2 FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 ***************************************************************************
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46 * Having a problem? Start by reading the FAQ "My application does *
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47 * not run, what could be wrong? *
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49 * http://www.FreeRTOS.org/FAQHelp.html *
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51 ***************************************************************************
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54 http://www.FreeRTOS.org - Documentation, training, latest information,
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55 license and contact details.
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57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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58 including FreeRTOS+Trace - an indispensable productivity tool.
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60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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61 the code with commercial support, indemnification, and middleware, under
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62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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63 provide a safety engineered and independently SIL3 certified version under
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64 the SafeRTOS brand: http://www.SafeRTOS.com.
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72 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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73 all the API functions to use the MPU wrappers. That should only be done when
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74 task.h is included from an application file. */
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75 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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77 #include "FreeRTOS.h"
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80 #include "StackMacros.h"
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82 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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85 * Macro to define the amount of stack available to the idle task.
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87 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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90 * Task control block. A task control block (TCB) is allocated to each task,
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91 * and stores the context of the task.
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93 typedef struct tskTaskControlBlock
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95 volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE STRUCT. */
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97 #if ( portUSING_MPU_WRAPPERS == 1 )
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98 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE STRUCT. */
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101 xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
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102 xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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103 unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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104 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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105 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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107 #if ( portSTACK_GROWTH > 0 )
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108 portSTACK_TYPE *pxEndOfStack; /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
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111 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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112 unsigned portBASE_TYPE uxCriticalNesting;
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115 #if ( configUSE_TRACE_FACILITY == 1 )
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116 unsigned portBASE_TYPE uxTCBNumber; /*< This stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
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117 unsigned portBASE_TYPE uxTaskNumber; /*< This stores a number specifically for use by third party trace code. */
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120 #if ( configUSE_MUTEXES == 1 )
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121 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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124 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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125 pdTASK_HOOK_CODE pxTaskTag;
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128 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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129 unsigned long ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
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136 * Some kernel aware debuggers require data to be viewed to be global, rather
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139 #ifdef portREMOVE_STATIC_QUALIFIER
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144 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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146 /* Lists for ready and blocked tasks. --------------------*/
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148 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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149 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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150 PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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151 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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152 PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
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153 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */
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155 #if ( INCLUDE_vTaskDelete == 1 )
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157 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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158 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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162 #if ( INCLUDE_vTaskSuspend == 1 )
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164 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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168 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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170 PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL;
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174 /* File private variables. --------------------------------*/
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175 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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176 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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177 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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178 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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179 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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180 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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181 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0U;
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182 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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183 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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184 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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185 PRIVILEGED_DATA static portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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187 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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189 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
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190 PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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191 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
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195 /* Debugging and trace facilities private variables and macros. ------------*/
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198 * The value used to fill the stack of a task when the task is created. This
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199 * is used purely for checking the high water mark for tasks.
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201 #define tskSTACK_FILL_BYTE ( 0xa5U )
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204 * Macros used by vListTask to indicate which state a task is in.
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206 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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207 #define tskREADY_CHAR ( ( signed char ) 'R' )
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208 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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209 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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211 /*-----------------------------------------------------------*/
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213 #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 0
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215 * uxTopReadyPriority holds the priority of the highest priority ready
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218 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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220 if( ( uxPriority ) > uxTopReadyPriority ) \
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222 uxTopReadyPriority = ( uxPriority ); \
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224 } /* taskRECORD_READY_PRIORITY */
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226 /*-----------------------------------------------------------*/
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228 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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230 /* Find the highest priority queue that contains ready tasks. */ \
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231 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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233 configASSERT( uxTopReadyPriority ); \
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234 --uxTopReadyPriority; \
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237 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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238 the same priority get an equal share of the processor time. */ \
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239 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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240 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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242 /*-----------------------------------------------------------*/
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244 /* Define away portRESET_READY_PRIORITY() as it is not required in this
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246 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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248 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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250 /* A port optimised version is provided. Call the port defined macros. */
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251 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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253 /*-----------------------------------------------------------*/
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255 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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257 unsigned portBASE_TYPE uxTopPriority; \
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259 /* Find the highest priority queue that contains ready tasks. */ \
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260 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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261 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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262 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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264 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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267 * Place the task represented by pxTCB into the appropriate ready queue for
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268 * the task. It is inserted at the end of the list. One quirk of this is
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269 * that if the task being inserted is at the same priority as the currently
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270 * executing task, then it will only be rescheduled after the currently
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271 * executing task has been rescheduled.
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273 #define prvAddTaskToReadyQueue( pxTCB ) \
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274 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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275 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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276 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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277 /*-----------------------------------------------------------*/
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280 * Macro that looks at the list of tasks that are currently delayed to see if
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281 * any require waking.
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283 * Tasks are stored in the queue in the order of their wake time - meaning
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284 * once one tasks has been found whose timer has not expired we need not look
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285 * any further down the list.
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287 #define prvCheckDelayedTasks() \
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289 portTickType xItemValue; \
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291 /* Is the tick count greater than or equal to the wake time of the first \
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292 task referenced from the delayed tasks list? */ \
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293 if( xTickCount >= xNextTaskUnblockTime ) \
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297 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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299 /* The delayed list is empty. Set xNextTaskUnblockTime to the \
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300 maximum possible value so it is extremely unlikely that the \
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301 if( xTickCount >= xNextTaskUnblockTime ) test will pass next \
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303 xNextTaskUnblockTime = portMAX_DELAY; \
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308 /* The delayed list is not empty, get the value of the item at \
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309 the head of the delayed list. This is the time at which the \
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310 task at the head of the delayed list should be removed from \
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311 the Blocked state. */ \
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312 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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313 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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315 if( xTickCount < xItemValue ) \
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317 /* It is not time to unblock this item yet, but the item \
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318 value is the time at which the task at the head of the \
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319 blocked list should be removed from the Blocked state - \
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320 so record the item value in xNextTaskUnblockTime. */ \
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321 xNextTaskUnblockTime = xItemValue; \
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325 /* It is time to remove the item from the Blocked state. */ \
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326 uxListRemove( &( pxTCB->xGenericListItem ) ); \
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328 /* Is the task waiting on an event also? */ \
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329 if( pxTCB->xEventListItem.pvContainer != NULL ) \
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331 uxListRemove( &( pxTCB->xEventListItem ) ); \
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333 prvAddTaskToReadyQueue( pxTCB ); \
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338 /*-----------------------------------------------------------*/
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341 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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342 * where NULL is used to indicate that the handle of the currently executing
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343 * task should be used in place of the parameter. This macro simply checks to
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344 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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346 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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348 /* Callback function prototypes. --------------------------*/
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349 extern void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName );
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350 extern void vApplicationTickHook( void );
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352 /* File private functions. --------------------------------*/
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355 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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356 * into the TCB structure.
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358 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
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361 * Utility to ready all the lists used by the scheduler. This is called
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362 * automatically upon the creation of the first task.
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364 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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367 * The idle task, which as all tasks is implemented as a never ending loop.
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368 * The idle task is automatically created and added to the ready lists upon
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369 * creation of the first user task.
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371 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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372 * language extensions. The equivalent prototype for this function is:
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374 * void prvIdleTask( void *pvParameters );
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377 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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380 * Utility to free all memory allocated by the scheduler to hold a TCB,
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381 * including the stack pointed to by the TCB.
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383 * This does not free memory allocated by the task itself (i.e. memory
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384 * allocated by calls to pvPortMalloc from within the tasks application code).
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386 #if ( INCLUDE_vTaskDelete == 1 )
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388 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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393 * Used only by the idle task. This checks to see if anything has been placed
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394 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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395 * and its TCB deleted.
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397 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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400 * The currently executing task is entering the Blocked state. Add the task to
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401 * either the current or the overflow delayed task list.
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403 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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406 * Allocates memory from the heap for a TCB and associated stack. Checks the
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407 * allocation was successful.
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409 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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412 * Called from vTaskList. vListTasks details all the tasks currently under
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413 * control of the scheduler. The tasks may be in one of a number of lists.
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414 * prvListTaskWithinSingleList accepts a list and details the tasks from
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415 * within just that list.
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417 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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418 * NORMAL APPLICATION CODE.
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420 #if ( configUSE_TRACE_FACILITY == 1 )
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422 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
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427 * When a task is created, the stack of the task is filled with a known value.
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428 * This function determines the 'high water mark' of the task stack by
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429 * determining how much of the stack remains at the original preset value.
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431 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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433 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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442 /*-----------------------------------------------------------
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443 * TASK CREATION API documented in task.h
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444 *----------------------------------------------------------*/
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446 signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
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448 signed portBASE_TYPE xReturn;
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451 configASSERT( pxTaskCode );
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452 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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454 /* Allocate the memory required by the TCB and stack for the new task,
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455 checking that the allocation was successful. */
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456 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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458 if( pxNewTCB != NULL )
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460 portSTACK_TYPE *pxTopOfStack;
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462 #if( portUSING_MPU_WRAPPERS == 1 )
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463 /* Should the task be created in privileged mode? */
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464 portBASE_TYPE xRunPrivileged;
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465 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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467 xRunPrivileged = pdTRUE;
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471 xRunPrivileged = pdFALSE;
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473 uxPriority &= ~portPRIVILEGE_BIT;
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474 #endif /* portUSING_MPU_WRAPPERS == 1 */
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476 /* Calculate the top of stack address. This depends on whether the
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477 stack grows from high memory to low (as per the 80x86) or visa versa.
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478 portSTACK_GROWTH is used to make the result positive or negative as
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479 required by the port. */
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480 #if( portSTACK_GROWTH < 0 )
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482 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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483 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
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485 /* Check the alignment of the calculated top of stack is correct. */
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486 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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490 pxTopOfStack = pxNewTCB->pxStack;
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492 /* Check the alignment of the stack buffer is correct. */
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493 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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495 /* If we want to use stack checking on architectures that use
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496 a positive stack growth direction then we also need to store the
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497 other extreme of the stack space. */
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498 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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502 /* Setup the newly allocated TCB with the initial state of the task. */
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503 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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505 /* Initialize the TCB stack to look as if the task was already running,
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506 but had been interrupted by the scheduler. The return address is set
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507 to the start of the task function. Once the stack has been initialised
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508 the top of stack variable is updated. */
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509 #if( portUSING_MPU_WRAPPERS == 1 )
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511 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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515 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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519 /* Check the alignment of the initialised stack. */
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520 portALIGNMENT_ASSERT_pxCurrentTCB( ( ( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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522 if( ( void * ) pxCreatedTask != NULL )
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524 /* Pass the TCB out - in an anonymous way. The calling function/
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525 task can use this as a handle to delete the task later if
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527 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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530 /* We are going to manipulate the task queues to add this task to a
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531 ready list, so must make sure no interrupts occur. */
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532 taskENTER_CRITICAL();
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534 uxCurrentNumberOfTasks++;
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535 if( pxCurrentTCB == NULL )
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537 /* There are no other tasks, or all the other tasks are in
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538 the suspended state - make this the current task. */
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539 pxCurrentTCB = pxNewTCB;
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541 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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543 /* This is the first task to be created so do the preliminary
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544 initialisation required. We will not recover if this call
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545 fails, but we will report the failure. */
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546 prvInitialiseTaskLists();
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551 /* If the scheduler is not already running, make this task the
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552 current task if it is the highest priority task to be created
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554 if( xSchedulerRunning == pdFALSE )
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556 if( pxCurrentTCB->uxPriority <= uxPriority )
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558 pxCurrentTCB = pxNewTCB;
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563 /* Remember the top priority to make context switching faster. Use
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564 the priority in pxNewTCB as this has been capped to a valid value. */
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565 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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567 uxTopUsedPriority = pxNewTCB->uxPriority;
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570 #if ( configUSE_TRACE_FACILITY == 1 )
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572 /* Add a counter into the TCB for tracing only. */
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573 pxNewTCB->uxTCBNumber = uxTaskNumber;
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578 prvAddTaskToReadyQueue( pxNewTCB );
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581 portSETUP_TCB( pxNewTCB );
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582 traceTASK_CREATE( pxNewTCB );
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584 taskEXIT_CRITICAL();
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588 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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589 traceTASK_CREATE_FAILED();
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592 if( xReturn == pdPASS )
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594 if( xSchedulerRunning != pdFALSE )
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596 /* If the created task is of a higher priority than the current task
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597 then it should run now. */
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598 if( pxCurrentTCB->uxPriority < uxPriority )
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600 portYIELD_WITHIN_API();
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607 /*-----------------------------------------------------------*/
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609 #if ( INCLUDE_vTaskDelete == 1 )
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611 void vTaskDelete( xTaskHandle pxTaskToDelete )
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615 taskENTER_CRITICAL();
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617 /* Ensure a yield is performed if the current task is being
\r
619 if( pxTaskToDelete == pxCurrentTCB )
\r
621 pxTaskToDelete = NULL;
\r
624 /* If null is passed in here then we are deleting ourselves. */
\r
625 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
\r
627 /* Remove task from the ready list and place in the termination list.
\r
628 This will stop the task from be scheduled. The idle task will check
\r
629 the termination list and free up any memory allocated by the
\r
630 scheduler for the TCB and stack. */
\r
631 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
633 portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
\r
636 /* Is the task waiting on an event also? */
\r
637 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
639 uxListRemove( &( pxTCB->xEventListItem ) );
\r
642 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
644 /* Increment the ucTasksDeleted variable so the idle task knows
\r
645 there is a task that has been deleted and that it should therefore
\r
646 check the xTasksWaitingTermination list. */
\r
649 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
650 can detect that the task lists need re-generating. */
\r
653 traceTASK_DELETE( pxTCB );
\r
655 taskEXIT_CRITICAL();
\r
657 /* Force a reschedule if we have just deleted the current task. */
\r
658 if( xSchedulerRunning != pdFALSE )
\r
660 if( ( void * ) pxTaskToDelete == NULL )
\r
662 portYIELD_WITHIN_API();
\r
674 /*-----------------------------------------------------------
\r
675 * TASK CONTROL API documented in task.h
\r
676 *----------------------------------------------------------*/
\r
678 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
680 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
682 portTickType xTimeToWake;
\r
683 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
685 configASSERT( pxPreviousWakeTime );
\r
686 configASSERT( ( xTimeIncrement > 0U ) );
\r
690 /* Generate the tick time at which the task wants to wake. */
\r
691 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
693 if( xTickCount < *pxPreviousWakeTime )
\r
695 /* The tick count has overflowed since this function was
\r
696 lasted called. In this case the only time we should ever
\r
697 actually delay is if the wake time has also overflowed,
\r
698 and the wake time is greater than the tick time. When this
\r
699 is the case it is as if neither time had overflowed. */
\r
700 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
702 xShouldDelay = pdTRUE;
\r
707 /* The tick time has not overflowed. In this case we will
\r
708 delay if either the wake time has overflowed, and/or the
\r
709 tick time is less than the wake time. */
\r
710 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
712 xShouldDelay = pdTRUE;
\r
716 /* Update the wake time ready for the next call. */
\r
717 *pxPreviousWakeTime = xTimeToWake;
\r
719 if( xShouldDelay != pdFALSE )
\r
721 traceTASK_DELAY_UNTIL();
\r
723 /* We must remove ourselves from the ready list before adding
\r
724 ourselves to the blocked list as the same list item is used for
\r
726 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
728 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
731 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
734 xAlreadyYielded = xTaskResumeAll();
\r
736 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
737 have put ourselves to sleep. */
\r
738 if( xAlreadyYielded == pdFALSE )
\r
740 portYIELD_WITHIN_API();
\r
745 /*-----------------------------------------------------------*/
\r
747 #if ( INCLUDE_vTaskDelay == 1 )
\r
749 void vTaskDelay( portTickType xTicksToDelay )
\r
751 portTickType xTimeToWake;
\r
752 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
754 /* A delay time of zero just forces a reschedule. */
\r
755 if( xTicksToDelay > ( portTickType ) 0U )
\r
761 /* A task that is removed from the event list while the
\r
762 scheduler is suspended will not get placed in the ready
\r
763 list or removed from the blocked list until the scheduler
\r
766 This task cannot be in an event list as it is the currently
\r
769 /* Calculate the time to wake - this may overflow but this is
\r
771 xTimeToWake = xTickCount + xTicksToDelay;
\r
773 /* We must remove ourselves from the ready list before adding
\r
774 ourselves to the blocked list as the same list item is used for
\r
776 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
778 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
780 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
782 xAlreadyYielded = xTaskResumeAll();
\r
785 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
786 have put ourselves to sleep. */
\r
787 if( xAlreadyYielded == pdFALSE )
\r
789 portYIELD_WITHIN_API();
\r
794 /*-----------------------------------------------------------*/
\r
796 #if ( INCLUDE_eTaskStateGet == 1 )
\r
798 eTaskState eTaskStateGet( xTaskHandle pxTask )
\r
800 eTaskState eReturn;
\r
801 xList *pxStateList;
\r
804 pxTCB = ( tskTCB * ) pxTask;
\r
806 if( pxTCB == pxCurrentTCB )
\r
808 /* The task calling this function is querying its own state. */
\r
809 eReturn = eRunning;
\r
813 taskENTER_CRITICAL();
\r
815 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
817 taskEXIT_CRITICAL();
\r
819 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
821 /* The task being queried is referenced from one of the Blocked
\r
823 eReturn = eBlocked;
\r
826 #if ( INCLUDE_vTaskSuspend == 1 )
\r
827 else if( pxStateList == &xSuspendedTaskList )
\r
829 /* The task being queried is referenced from the suspended
\r
831 eReturn = eSuspended;
\r
835 #if ( INCLUDE_vTaskDelete == 1 )
\r
836 else if( pxStateList == &xTasksWaitingTermination )
\r
838 /* The task being queried is referenced from the deleted
\r
840 eReturn = eDeleted;
\r
846 /* If the task is not in any other state, it must be in the
\r
847 Ready (including pending ready) state. */
\r
856 /*-----------------------------------------------------------*/
\r
858 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
860 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
863 unsigned portBASE_TYPE uxReturn;
\r
865 taskENTER_CRITICAL();
\r
867 /* If null is passed in here then we are changing the
\r
868 priority of the calling function. */
\r
869 pxTCB = prvGetTCBFromHandle( pxTask );
\r
870 uxReturn = pxTCB->uxPriority;
\r
872 taskEXIT_CRITICAL();
\r
878 /*-----------------------------------------------------------*/
\r
880 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
882 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
885 unsigned portBASE_TYPE uxCurrentPriority;
\r
886 portBASE_TYPE xYieldRequired = pdFALSE;
\r
888 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
890 /* Ensure the new priority is valid. */
\r
891 if( uxNewPriority >= configMAX_PRIORITIES )
\r
893 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
896 taskENTER_CRITICAL();
\r
898 if( pxTask == pxCurrentTCB )
\r
903 /* If null is passed in here then we are changing the
\r
904 priority of the calling function. */
\r
905 pxTCB = prvGetTCBFromHandle( pxTask );
\r
907 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
909 #if ( configUSE_MUTEXES == 1 )
\r
911 uxCurrentPriority = pxTCB->uxBasePriority;
\r
915 uxCurrentPriority = pxTCB->uxPriority;
\r
919 if( uxCurrentPriority != uxNewPriority )
\r
921 /* The priority change may have readied a task of higher
\r
922 priority than the calling task. */
\r
923 if( uxNewPriority > uxCurrentPriority )
\r
925 if( pxTask != NULL )
\r
927 /* The priority of another task is being raised. If we
\r
928 were raising the priority of the currently running task
\r
929 there would be no need to switch as it must have already
\r
930 been the highest priority task. */
\r
931 xYieldRequired = pdTRUE;
\r
934 else if( pxTask == NULL )
\r
936 /* Setting our own priority down means there may now be another
\r
937 task of higher priority that is ready to execute. */
\r
938 xYieldRequired = pdTRUE;
\r
943 #if ( configUSE_MUTEXES == 1 )
\r
945 /* Only change the priority being used if the task is not
\r
946 currently using an inherited priority. */
\r
947 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
949 pxTCB->uxPriority = uxNewPriority;
\r
952 /* The base priority gets set whatever. */
\r
953 pxTCB->uxBasePriority = uxNewPriority;
\r
957 pxTCB->uxPriority = uxNewPriority;
\r
961 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
963 /* If the task is in the blocked or suspended list we need do
\r
964 nothing more than change it's priority variable. However, if
\r
965 the task is in a ready list it needs to be removed and placed
\r
966 in the queue appropriate to its new priority. */
\r
967 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
969 /* The task is currently in its ready list - remove before adding
\r
970 it to it's new ready list. As we are in a critical section we
\r
971 can do this even if the scheduler is suspended. */
\r
972 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
974 portRESET_READY_PRIORITY( uxCurrentPriority, uxTopReadyPriority );
\r
976 prvAddTaskToReadyQueue( pxTCB );
\r
979 if( xYieldRequired == pdTRUE )
\r
981 portYIELD_WITHIN_API();
\r
985 taskEXIT_CRITICAL();
\r
989 /*-----------------------------------------------------------*/
\r
991 #if ( INCLUDE_vTaskSuspend == 1 )
\r
993 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
997 taskENTER_CRITICAL();
\r
999 /* Ensure a yield is performed if the current task is being
\r
1001 if( pxTaskToSuspend == pxCurrentTCB )
\r
1003 pxTaskToSuspend = NULL;
\r
1006 /* If null is passed in here then we are suspending ourselves. */
\r
1007 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
1009 traceTASK_SUSPEND( pxTCB );
\r
1011 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
1012 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1014 portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
\r
1017 /* Is the task waiting on an event also? */
\r
1018 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
1020 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1023 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1025 taskEXIT_CRITICAL();
\r
1027 if( ( void * ) pxTaskToSuspend == NULL )
\r
1029 if( xSchedulerRunning != pdFALSE )
\r
1031 /* We have just suspended the current task. */
\r
1032 portYIELD_WITHIN_API();
\r
1036 /* The scheduler is not running, but the task that was pointed
\r
1037 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1038 must be adjusted to point to a different task. */
\r
1039 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1041 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1042 NULL so when the next task is created pxCurrentTCB will
\r
1043 be set to point to it no matter what its relative priority
\r
1045 pxCurrentTCB = NULL;
\r
1049 vTaskSwitchContext();
\r
1056 /*-----------------------------------------------------------*/
\r
1058 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1060 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
1062 portBASE_TYPE xReturn = pdFALSE;
\r
1063 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1065 /* It does not make sense to check if the calling task is suspended. */
\r
1066 configASSERT( xTask );
\r
1068 /* Is the task we are attempting to resume actually in the
\r
1069 suspended list? */
\r
1070 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1072 /* Has the task already been resumed from within an ISR? */
\r
1073 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
1075 /* Is it in the suspended list because it is in the
\r
1076 Suspended state? It is possible to be in the suspended
\r
1077 list because it is blocked on a task with no timeout
\r
1079 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
1090 /*-----------------------------------------------------------*/
\r
1092 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1094 void vTaskResume( xTaskHandle pxTaskToResume )
\r
1098 /* It does not make sense to resume the calling task. */
\r
1099 configASSERT( pxTaskToResume );
\r
1101 /* Remove the task from whichever list it is currently in, and place
\r
1102 it in the ready list. */
\r
1103 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1105 /* The parameter cannot be NULL as it is impossible to resume the
\r
1106 currently executing task. */
\r
1107 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1109 taskENTER_CRITICAL();
\r
1111 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1113 traceTASK_RESUME( pxTCB );
\r
1115 /* As we are in a critical section we can access the ready
\r
1116 lists even if the scheduler is suspended. */
\r
1117 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1118 prvAddTaskToReadyQueue( pxTCB );
\r
1120 /* We may have just resumed a higher priority task. */
\r
1121 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1123 /* This yield may not cause the task just resumed to run, but
\r
1124 will leave the lists in the correct state for the next yield. */
\r
1125 portYIELD_WITHIN_API();
\r
1129 taskEXIT_CRITICAL();
\r
1135 /*-----------------------------------------------------------*/
\r
1137 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1139 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
1141 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1143 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1145 configASSERT( pxTaskToResume );
\r
1147 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1149 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1151 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1153 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1155 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1157 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1158 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1159 prvAddTaskToReadyQueue( pxTCB );
\r
1163 /* We cannot access the delayed or ready lists, so will hold this
\r
1164 task pending until the scheduler is resumed, at which point a
\r
1165 yield will be performed if necessary. */
\r
1166 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1170 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1172 return xYieldRequired;
\r
1180 /*-----------------------------------------------------------
\r
1181 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1182 *----------------------------------------------------------*/
\r
1185 void vTaskStartScheduler( void )
\r
1187 portBASE_TYPE xReturn;
\r
1189 /* Add the idle task at the lowest priority. */
\r
1190 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1192 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1193 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1194 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );
\r
1198 /* Create the idle task without storing its handle. */
\r
1199 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
\r
1203 #if ( configUSE_TIMERS == 1 )
\r
1205 if( xReturn == pdPASS )
\r
1207 xReturn = xTimerCreateTimerTask();
\r
1212 if( xReturn == pdPASS )
\r
1214 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1215 before or during the call to xPortStartScheduler(). The stacks of
\r
1216 the created tasks contain a status word with interrupts switched on
\r
1217 so interrupts will automatically get re-enabled when the first task
\r
1220 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1221 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1222 portDISABLE_INTERRUPTS();
\r
1224 xSchedulerRunning = pdTRUE;
\r
1225 xTickCount = ( portTickType ) 0U;
\r
1227 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1228 macro must be defined to configure the timer/counter used to generate
\r
1229 the run time counter time base. */
\r
1230 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1232 /* Setting up the timer tick is hardware specific and thus in the
\r
1233 portable interface. */
\r
1234 if( xPortStartScheduler() != pdFALSE )
\r
1236 /* Should not reach here as if the scheduler is running the
\r
1237 function will not return. */
\r
1241 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1245 /* This line will only be reached if the kernel could not be started. */
\r
1246 configASSERT( xReturn );
\r
1248 /*-----------------------------------------------------------*/
\r
1250 void vTaskEndScheduler( void )
\r
1252 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1253 routine so the original ISRs can be restored if necessary. The port
\r
1254 layer must ensure interrupts enable bit is left in the correct state. */
\r
1255 portDISABLE_INTERRUPTS();
\r
1256 xSchedulerRunning = pdFALSE;
\r
1257 vPortEndScheduler();
\r
1259 /*----------------------------------------------------------*/
\r
1261 void vTaskSuspendAll( void )
\r
1263 /* A critical section is not required as the variable is of type
\r
1265 ++uxSchedulerSuspended;
\r
1267 /*----------------------------------------------------------*/
\r
1269 signed portBASE_TYPE xTaskResumeAll( void )
\r
1271 register tskTCB *pxTCB;
\r
1272 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1274 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1275 previous call to vTaskSuspendAll(). */
\r
1276 configASSERT( uxSchedulerSuspended );
\r
1278 /* It is possible that an ISR caused a task to be removed from an event
\r
1279 list while the scheduler was suspended. If this was the case then the
\r
1280 removed task will have been added to the xPendingReadyList. Once the
\r
1281 scheduler has been resumed it is safe to move all the pending ready
\r
1282 tasks from this list into their appropriate ready list. */
\r
1283 taskENTER_CRITICAL();
\r
1285 --uxSchedulerSuspended;
\r
1287 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1289 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1291 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1293 /* Move any readied tasks from the pending list into the
\r
1294 appropriate ready list. */
\r
1295 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1297 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1298 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1299 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1300 prvAddTaskToReadyQueue( pxTCB );
\r
1302 /* If we have moved a task that has a priority higher than
\r
1303 the current task then we should yield. */
\r
1304 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1306 xYieldRequired = pdTRUE;
\r
1310 /* If any ticks occurred while the scheduler was suspended then
\r
1311 they should be processed now. This ensures the tick count does not
\r
1312 slip, and that any delayed tasks are resumed at the correct time. */
\r
1313 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1315 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1317 vTaskIncrementTick();
\r
1321 /* As we have processed some ticks it is appropriate to yield
\r
1322 to ensure the highest priority task that is ready to run is
\r
1323 the task actually running. */
\r
1324 #if configUSE_PREEMPTION == 1
\r
1326 xYieldRequired = pdTRUE;
\r
1331 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1333 xAlreadyYielded = pdTRUE;
\r
1334 xMissedYield = pdFALSE;
\r
1335 portYIELD_WITHIN_API();
\r
1340 taskEXIT_CRITICAL();
\r
1342 return xAlreadyYielded;
\r
1350 /*-----------------------------------------------------------
\r
1351 * PUBLIC TASK UTILITIES documented in task.h
\r
1352 *----------------------------------------------------------*/
\r
1356 portTickType xTaskGetTickCount( void )
\r
1358 portTickType xTicks;
\r
1360 /* Critical section required if running on a 16 bit processor. */
\r
1361 taskENTER_CRITICAL();
\r
1363 xTicks = xTickCount;
\r
1365 taskEXIT_CRITICAL();
\r
1369 /*-----------------------------------------------------------*/
\r
1371 portTickType xTaskGetTickCountFromISR( void )
\r
1373 portTickType xReturn;
\r
1374 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1376 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1377 xReturn = xTickCount;
\r
1378 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1382 /*-----------------------------------------------------------*/
\r
1384 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1386 /* A critical section is not required because the variables are of type
\r
1388 return uxCurrentNumberOfTasks;
\r
1390 /*-----------------------------------------------------------*/
\r
1392 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1394 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1398 /* If null is passed in here then the name of the calling task is being queried. */
\r
1399 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1400 configASSERT( pxTCB );
\r
1401 return &( pxTCB->pcTaskName[ 0 ] );
\r
1405 /*-----------------------------------------------------------*/
\r
1407 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1409 void vTaskList( signed char *pcWriteBuffer )
\r
1411 unsigned portBASE_TYPE uxQueue;
\r
1413 /* This is a VERY costly function that should be used for debug only.
\r
1414 It leaves interrupts disabled for a LONG time. */
\r
1416 vTaskSuspendAll();
\r
1418 /* Run through all the lists that could potentially contain a TCB and
\r
1419 report the task name, state and stack high water mark. */
\r
1421 *pcWriteBuffer = ( signed char ) 0x00;
\r
1422 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1424 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1430 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1432 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1434 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1436 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1438 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1441 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1443 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1446 #if( INCLUDE_vTaskDelete == 1 )
\r
1448 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1450 prvListTaskWithinSingleList( pcWriteBuffer, &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1455 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1457 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1459 prvListTaskWithinSingleList( pcWriteBuffer, &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1468 /*----------------------------------------------------------*/
\r
1470 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1472 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1474 unsigned portBASE_TYPE uxQueue;
\r
1475 unsigned long ulTotalRunTime;
\r
1477 /* This is a VERY costly function that should be used for debug only.
\r
1478 It leaves interrupts disabled for a LONG time. */
\r
1480 vTaskSuspendAll();
\r
1482 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1483 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1485 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1488 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1489 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1490 ulTotalRunTime /= 100UL;
\r
1492 /* Run through all the lists that could potentially contain a TCB,
\r
1493 generating a table of run timer percentages in the provided
\r
1496 *pcWriteBuffer = ( signed char ) 0x00;
\r
1497 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1499 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1505 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1507 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
\r
1509 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1511 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1513 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
\r
1516 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1518 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
\r
1521 #if ( INCLUDE_vTaskDelete == 1 )
\r
1523 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1525 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTime );
\r
1530 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1532 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1534 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTime );
\r
1543 /*----------------------------------------------------------*/
\r
1545 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1547 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1549 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1550 started, then xIdleTaskHandle will be NULL. */
\r
1551 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1552 return xIdleTaskHandle;
\r
1557 /*-----------------------------------------------------------
\r
1558 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1559 * documented in task.h
\r
1560 *----------------------------------------------------------*/
\r
1562 void vTaskIncrementTick( void )
\r
1566 /* Called by the portable layer each time a tick interrupt occurs.
\r
1567 Increments the tick then checks to see if the new tick value will cause any
\r
1568 tasks to be unblocked. */
\r
1569 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1572 if( xTickCount == ( portTickType ) 0U )
\r
1576 /* Tick count has overflowed so we need to swap the delay lists.
\r
1577 If there are any items in pxDelayedTaskList here then there is
\r
1579 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );
\r
1581 pxTemp = pxDelayedTaskList;
\r
1582 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1583 pxOverflowDelayedTaskList = pxTemp;
\r
1584 xNumOfOverflows++;
\r
1586 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1588 /* The new current delayed list is empty. Set
\r
1589 xNextTaskUnblockTime to the maximum possible value so it is
\r
1590 extremely unlikely that the
\r
1591 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
1592 there is an item in the delayed list. */
\r
1593 xNextTaskUnblockTime = portMAX_DELAY;
\r
1597 /* The new current delayed list is not empty, get the value of
\r
1598 the item at the head of the delayed list. This is the time at
\r
1599 which the task at the head of the delayed list should be removed
\r
1600 from the Blocked state. */
\r
1601 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1602 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1606 /* See if this tick has made a timeout expire. */
\r
1607 prvCheckDelayedTasks();
\r
1613 /* The tick hook gets called at regular intervals, even if the
\r
1614 scheduler is locked. */
\r
1615 #if ( configUSE_TICK_HOOK == 1 )
\r
1617 vApplicationTickHook();
\r
1622 #if ( configUSE_TICK_HOOK == 1 )
\r
1624 /* Guard against the tick hook being called when the missed tick
\r
1625 count is being unwound (when the scheduler is being unlocked. */
\r
1626 if( uxMissedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1628 vApplicationTickHook();
\r
1633 traceTASK_INCREMENT_TICK( xTickCount );
\r
1635 /*-----------------------------------------------------------*/
\r
1637 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1639 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1643 /* If xTask is NULL then we are setting our own task hook. */
\r
1644 if( xTask == NULL )
\r
1646 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1650 xTCB = ( tskTCB * ) xTask;
\r
1653 /* Save the hook function in the TCB. A critical section is required as
\r
1654 the value can be accessed from an interrupt. */
\r
1655 taskENTER_CRITICAL();
\r
1656 xTCB->pxTaskTag = pxHookFunction;
\r
1657 taskEXIT_CRITICAL();
\r
1661 /*-----------------------------------------------------------*/
\r
1663 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1665 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1668 pdTASK_HOOK_CODE xReturn;
\r
1670 /* If xTask is NULL then we are setting our own task hook. */
\r
1671 if( xTask == NULL )
\r
1673 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1677 xTCB = ( tskTCB * ) xTask;
\r
1680 /* Save the hook function in the TCB. A critical section is required as
\r
1681 the value can be accessed from an interrupt. */
\r
1682 taskENTER_CRITICAL();
\r
1683 xReturn = xTCB->pxTaskTag;
\r
1684 taskEXIT_CRITICAL();
\r
1690 /*-----------------------------------------------------------*/
\r
1692 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1694 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1697 portBASE_TYPE xReturn;
\r
1699 /* If xTask is NULL then we are calling our own task hook. */
\r
1700 if( xTask == NULL )
\r
1702 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1706 xTCB = ( tskTCB * ) xTask;
\r
1709 if( xTCB->pxTaskTag != NULL )
\r
1711 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1722 /*-----------------------------------------------------------*/
\r
1724 void vTaskSwitchContext( void )
\r
1726 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1728 /* The scheduler is currently suspended - do not allow a context
\r
1730 xMissedYield = pdTRUE;
\r
1734 traceTASK_SWITCHED_OUT();
\r
1736 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1738 unsigned long ulTempCounter;
\r
1740 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1741 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter );
\r
1743 ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
\r
1746 /* Add the amount of time the task has been running to the accumulated
\r
1747 time so far. The time the task started running was stored in
\r
1748 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1749 so count values are only valid until the timer overflows. Generally
\r
1750 this will be about 1 hour assuming a 1uS timer increment. */
\r
1751 pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
\r
1752 ulTaskSwitchedInTime = ulTempCounter;
\r
1756 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1757 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1759 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
1761 traceTASK_SWITCHED_IN();
\r
1764 /*-----------------------------------------------------------*/
\r
1766 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1768 portTickType xTimeToWake;
\r
1770 configASSERT( pxEventList );
\r
1772 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1773 SCHEDULER SUSPENDED. */
\r
1775 /* Place the event list item of the TCB in the appropriate event list.
\r
1776 This is placed in the list in priority order so the highest priority task
\r
1777 is the first to be woken by the event. */
\r
1778 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1780 /* We must remove ourselves from the ready list before adding ourselves
\r
1781 to the blocked list as the same list item is used for both lists. We have
\r
1782 exclusive access to the ready lists as the scheduler is locked. */
\r
1783 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1785 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1788 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1790 if( xTicksToWait == portMAX_DELAY )
\r
1792 /* Add ourselves to the suspended task list instead of a delayed task
\r
1793 list to ensure we are not woken by a timing event. We will block
\r
1795 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1799 /* Calculate the time at which the task should be woken if the event does
\r
1800 not occur. This may overflow but this doesn't matter. */
\r
1801 xTimeToWake = xTickCount + xTicksToWait;
\r
1802 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1807 /* Calculate the time at which the task should be woken if the event does
\r
1808 not occur. This may overflow but this doesn't matter. */
\r
1809 xTimeToWake = xTickCount + xTicksToWait;
\r
1810 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1814 /*-----------------------------------------------------------*/
\r
1816 #if configUSE_TIMERS == 1
\r
1818 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1820 portTickType xTimeToWake;
\r
1822 configASSERT( pxEventList );
\r
1824 /* This function should not be called by application code hence the
\r
1825 'Restricted' in its name. It is not part of the public API. It is
\r
1826 designed for use by kernel code, and has special calling requirements -
\r
1827 it should be called from a critical section. */
\r
1830 /* Place the event list item of the TCB in the appropriate event list.
\r
1831 In this case it is assume that this is the only task that is going to
\r
1832 be waiting on this event list, so the faster vListInsertEnd() function
\r
1833 can be used in place of vListInsert. */
\r
1834 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1836 /* We must remove this task from the ready list before adding it to the
\r
1837 blocked list as the same list item is used for both lists. This
\r
1838 function is called form a critical section. */
\r
1839 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1841 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1844 /* Calculate the time at which the task should be woken if the event does
\r
1845 not occur. This may overflow but this doesn't matter. */
\r
1846 xTimeToWake = xTickCount + xTicksToWait;
\r
1847 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1850 #endif /* configUSE_TIMERS */
\r
1851 /*-----------------------------------------------------------*/
\r
1853 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1855 tskTCB *pxUnblockedTCB;
\r
1856 portBASE_TYPE xReturn;
\r
1858 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1859 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1861 /* The event list is sorted in priority order, so we can remove the
\r
1862 first in the list, remove the TCB from the delayed list, and add
\r
1863 it to the ready list.
\r
1865 If an event is for a queue that is locked then this function will never
\r
1866 get called - the lock count on the queue will get modified instead. This
\r
1867 means we can always expect exclusive access to the event list here.
\r
1869 This function assumes that a check has already been made to ensure that
\r
1870 pxEventList is not empty. */
\r
1871 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1872 configASSERT( pxUnblockedTCB );
\r
1873 uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1875 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1877 uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1878 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1882 /* We cannot access the delayed or ready lists, so will hold this
\r
1883 task pending until the scheduler is resumed. */
\r
1884 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1887 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1889 /* Return true if the task removed from the event list has
\r
1890 a higher priority than the calling task. This allows
\r
1891 the calling task to know if it should force a context
\r
1897 xReturn = pdFALSE;
\r
1902 /*-----------------------------------------------------------*/
\r
1904 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1906 configASSERT( pxTimeOut );
\r
1907 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1908 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1910 /*-----------------------------------------------------------*/
\r
1912 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1914 portBASE_TYPE xReturn;
\r
1916 configASSERT( pxTimeOut );
\r
1917 configASSERT( pxTicksToWait );
\r
1919 taskENTER_CRITICAL();
\r
1921 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1922 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1923 the maximum block time then the task should block indefinitely, and
\r
1924 therefore never time out. */
\r
1925 if( *pxTicksToWait == portMAX_DELAY )
\r
1927 xReturn = pdFALSE;
\r
1929 else /* We are not blocking indefinitely, perform the checks below. */
\r
1932 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
1934 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1935 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1936 It must have wrapped all the way around and gone past us again. This
\r
1937 passed since vTaskSetTimeout() was called. */
\r
1940 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
1942 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1943 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
1944 vTaskSetTimeOutState( pxTimeOut );
\r
1945 xReturn = pdFALSE;
\r
1952 taskEXIT_CRITICAL();
\r
1956 /*-----------------------------------------------------------*/
\r
1958 void vTaskMissedYield( void )
\r
1960 xMissedYield = pdTRUE;
\r
1962 /*-----------------------------------------------------------*/
\r
1964 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1965 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
1967 unsigned portBASE_TYPE uxReturn;
\r
1970 if( xTask != NULL )
\r
1972 pxTCB = ( tskTCB * ) xTask;
\r
1973 uxReturn = pxTCB->uxTaskNumber;
\r
1983 /*-----------------------------------------------------------*/
\r
1985 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1986 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
1990 if( xTask != NULL )
\r
1992 pxTCB = ( tskTCB * ) xTask;
\r
1993 pxTCB->uxTaskNumber = uxHandle;
\r
2000 * -----------------------------------------------------------
\r
2002 * ----------------------------------------------------------
\r
2004 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2005 * language extensions. The equivalent prototype for this function is:
\r
2007 * void prvIdleTask( void *pvParameters );
\r
2010 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2012 /* Stop warnings. */
\r
2013 ( void ) pvParameters;
\r
2017 /* See if any tasks have been deleted. */
\r
2018 prvCheckTasksWaitingTermination();
\r
2020 #if ( configUSE_PREEMPTION == 0 )
\r
2022 /* If we are not using preemption we keep forcing a task switch to
\r
2023 see if any other task has become available. If we are using
\r
2024 preemption we don't need to do this as any task becoming available
\r
2025 will automatically get the processor anyway. */
\r
2030 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2032 /* When using preemption tasks of equal priority will be
\r
2033 timesliced. If a task that is sharing the idle priority is ready
\r
2034 to run then the idle task should yield before the end of the
\r
2037 A critical region is not required here as we are just reading from
\r
2038 the list, and an occasional incorrect value will not matter. If
\r
2039 the ready list at the idle priority contains more than one task
\r
2040 then a task other than the idle task is ready to execute. */
\r
2041 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2048 #if ( configUSE_IDLE_HOOK == 1 )
\r
2050 extern void vApplicationIdleHook( void );
\r
2052 /* Call the user defined function from within the idle task. This
\r
2053 allows the application designer to add background functionality
\r
2054 without the overhead of a separate task.
\r
2055 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2056 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2057 vApplicationIdleHook();
\r
2061 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
2069 /*-----------------------------------------------------------
\r
2070 * File private functions documented at the top of the file.
\r
2071 *----------------------------------------------------------*/
\r
2075 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2077 /* Store the function name in the TCB. */
\r
2078 #if configMAX_TASK_NAME_LEN > 1
\r
2080 /* Don't bring strncpy into the build unnecessarily. */
\r
2081 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
2084 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
\r
2086 /* This is used as an array index so must ensure it's not too large. First
\r
2087 remove the privilege bit if one is present. */
\r
2088 if( uxPriority >= configMAX_PRIORITIES )
\r
2090 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2093 pxTCB->uxPriority = uxPriority;
\r
2094 #if ( configUSE_MUTEXES == 1 )
\r
2096 pxTCB->uxBasePriority = uxPriority;
\r
2100 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2101 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2103 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2104 back to the containing TCB from a generic item in a list. */
\r
2105 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2107 /* Event lists are always in priority order. */
\r
2108 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
2109 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2111 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2113 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2117 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2119 pxTCB->pxTaskTag = NULL;
\r
2123 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2125 pxTCB->ulRunTimeCounter = 0UL;
\r
2129 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2131 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2135 ( void ) xRegions;
\r
2136 ( void ) usStackDepth;
\r
2140 /*-----------------------------------------------------------*/
\r
2142 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2144 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2148 if( xTaskToModify == pxCurrentTCB )
\r
2150 xTaskToModify = NULL;
\r
2153 /* If null is passed in here then we are deleting ourselves. */
\r
2154 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2156 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2158 /*-----------------------------------------------------------*/
\r
2161 static void prvInitialiseTaskLists( void )
\r
2163 unsigned portBASE_TYPE uxPriority;
\r
2165 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2167 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2170 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2171 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2172 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2174 #if ( INCLUDE_vTaskDelete == 1 )
\r
2176 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2180 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2182 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2186 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2188 pxDelayedTaskList = &xDelayedTaskList1;
\r
2189 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2191 /*-----------------------------------------------------------*/
\r
2193 static void prvCheckTasksWaitingTermination( void )
\r
2195 #if ( INCLUDE_vTaskDelete == 1 )
\r
2197 portBASE_TYPE xListIsEmpty;
\r
2199 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2200 too often in the idle task. */
\r
2201 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2203 vTaskSuspendAll();
\r
2204 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2207 if( xListIsEmpty == pdFALSE )
\r
2211 taskENTER_CRITICAL();
\r
2213 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2214 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2215 --uxCurrentNumberOfTasks;
\r
2218 taskEXIT_CRITICAL();
\r
2220 prvDeleteTCB( pxTCB );
\r
2226 /*-----------------------------------------------------------*/
\r
2228 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2230 /* The list item will be inserted in wake time order. */
\r
2231 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2233 if( xTimeToWake < xTickCount )
\r
2235 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2236 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2240 /* The wake time has not overflowed, so we can use the current block list. */
\r
2241 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2243 /* If the task entering the blocked state was placed at the head of the
\r
2244 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2246 if( xTimeToWake < xNextTaskUnblockTime )
\r
2248 xNextTaskUnblockTime = xTimeToWake;
\r
2252 /*-----------------------------------------------------------*/
\r
2254 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2258 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2259 the implementation of the port malloc function. */
\r
2260 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2262 if( pxNewTCB != NULL )
\r
2264 /* Allocate space for the stack used by the task being created.
\r
2265 The base of the stack memory stored in the TCB so the task can
\r
2266 be deleted later if required. */
\r
2267 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2269 if( pxNewTCB->pxStack == NULL )
\r
2271 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2272 vPortFree( pxNewTCB );
\r
2277 /* Just to help debugging. */
\r
2278 memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2284 /*-----------------------------------------------------------*/
\r
2286 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2288 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2290 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2291 unsigned short usStackRemaining;
\r
2292 PRIVILEGED_DATA static char pcStatusString[ configMAX_TASK_NAME_LEN + 30 ];
\r
2294 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2295 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2298 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2299 #if ( portSTACK_GROWTH > 0 )
\r
2301 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2305 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2309 sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
\r
2310 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2312 } while( pxNextTCB != pxFirstTCB );
\r
2316 /*-----------------------------------------------------------*/
\r
2318 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2320 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
\r
2322 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2323 unsigned long ulStatsAsPercentage;
\r
2325 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2326 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2329 /* Get next TCB in from the list. */
\r
2330 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2332 /* Divide by zero check. */
\r
2333 if( ulTotalRunTime > 0UL )
\r
2335 /* Has the task run at all? */
\r
2336 if( pxNextTCB->ulRunTimeCounter == 0UL )
\r
2338 /* The task has used no CPU time at all. */
\r
2339 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2343 /* What percentage of the total run time has the task used?
\r
2344 This will always be rounded down to the nearest integer.
\r
2345 ulTotalRunTime has already been divided by 100. */
\r
2346 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime;
\r
2348 if( ulStatsAsPercentage > 0UL )
\r
2350 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2352 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2356 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2357 printf() library can be used. */
\r
2358 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2364 /* If the percentage is zero here then the task has
\r
2365 consumed less than 1% of the total run time. */
\r
2366 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2368 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2372 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2373 printf() library can be used. */
\r
2374 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2380 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2383 } while( pxNextTCB != pxFirstTCB );
\r
2387 /*-----------------------------------------------------------*/
\r
2389 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2391 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2393 register unsigned short usCount = 0U;
\r
2395 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2397 pucStackByte -= portSTACK_GROWTH;
\r
2401 usCount /= sizeof( portSTACK_TYPE );
\r
2407 /*-----------------------------------------------------------*/
\r
2409 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2411 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2414 unsigned char *pcEndOfStack;
\r
2415 unsigned portBASE_TYPE uxReturn;
\r
2417 pxTCB = prvGetTCBFromHandle( xTask );
\r
2419 #if portSTACK_GROWTH < 0
\r
2421 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2425 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2429 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2435 /*-----------------------------------------------------------*/
\r
2437 #if ( INCLUDE_vTaskDelete == 1 )
\r
2439 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2441 /* This call is required specifically for the TriCore port. It must be
\r
2442 above the vPortFree() calls. The call is also used by ports/demos that
\r
2443 want to allocate and clean RAM statically. */
\r
2444 portCLEAN_UP_TCB( pxTCB );
\r
2446 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2447 the task to free any memory allocated at the application level. */
\r
2448 vPortFreeAligned( pxTCB->pxStack );
\r
2449 vPortFree( pxTCB );
\r
2455 /*-----------------------------------------------------------*/
\r
2457 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2459 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2461 xTaskHandle xReturn;
\r
2463 /* A critical section is not required as this is not called from
\r
2464 an interrupt and the current TCB will always be the same for any
\r
2465 individual execution thread. */
\r
2466 xReturn = pxCurrentTCB;
\r
2473 /*-----------------------------------------------------------*/
\r
2475 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2477 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2479 portBASE_TYPE xReturn;
\r
2481 if( xSchedulerRunning == pdFALSE )
\r
2483 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2487 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2489 xReturn = taskSCHEDULER_RUNNING;
\r
2493 xReturn = taskSCHEDULER_SUSPENDED;
\r
2501 /*-----------------------------------------------------------*/
\r
2503 #if ( configUSE_MUTEXES == 1 )
\r
2505 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2507 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2509 /* If the mutex was given back by an interrupt while the queue was
\r
2510 locked then the mutex holder might now be NULL. */
\r
2511 if( pxMutexHolder != NULL )
\r
2513 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2515 /* Adjust the mutex holder state to account for its new priority. */
\r
2516 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2518 /* If the task being modified is in the ready state it will need to
\r
2519 be moved in to a new list. */
\r
2520 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2522 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2524 portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
\r
2527 /* Inherit the priority before being moved into the new list. */
\r
2528 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2529 prvAddTaskToReadyQueue( pxTCB );
\r
2533 /* Just inherit the priority. */
\r
2534 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2537 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2543 /*-----------------------------------------------------------*/
\r
2545 #if ( configUSE_MUTEXES == 1 )
\r
2547 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2549 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2551 if( pxMutexHolder != NULL )
\r
2553 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2555 /* We must be the running task to be able to give the mutex back.
\r
2556 Remove ourselves from the ready list we currently appear in. */
\r
2557 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2559 portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
\r
2562 /* Disinherit the priority before adding the task into the new
\r
2564 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2565 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2566 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2567 prvAddTaskToReadyQueue( pxTCB );
\r
2573 /*-----------------------------------------------------------*/
\r
2575 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2577 void vTaskEnterCritical( void )
\r
2579 portDISABLE_INTERRUPTS();
\r
2581 if( xSchedulerRunning != pdFALSE )
\r
2583 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2588 /*-----------------------------------------------------------*/
\r
2590 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2592 void vTaskExitCritical( void )
\r
2594 if( xSchedulerRunning != pdFALSE )
\r
2596 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2598 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2600 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2602 portENABLE_INTERRUPTS();
\r
2609 /*-----------------------------------------------------------*/
\r
projects / freertos / blob