2 FreeRTOS V7.4.2 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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75 /* Standard includes. */
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80 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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81 all the API functions to use the MPU wrappers. That should only be done when
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82 task.h is included from an application file. */
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83 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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85 /* FreeRTOS includes. */
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86 #include "FreeRTOS.h"
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89 #include "StackMacros.h"
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91 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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93 /* Sanity check the configuration. */
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94 #if configUSE_TICKLESS_IDLE != 0
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95 #if INCLUDE_vTaskSuspend != 1
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96 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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97 #endif /* INCLUDE_vTaskSuspend */
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98 #endif /* configUSE_TICKLESS_IDLE */
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101 * Defines the size, in words, of the stack allocated to the idle task.
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103 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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106 * Task control block. A task control block (TCB) is allocated for each task,
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107 * and stores task state information, including a pointer to the task's context
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108 * (the task's run time environment, including register values)
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110 typedef struct tskTaskControlBlock
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112 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 TCB STRUCT. */
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114 #if ( portUSING_MPU_WRAPPERS == 1 )
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115 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
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118 xListItem xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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119 xListItem xEventListItem; /*< Used to reference a task from an event list. */
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120 unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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121 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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122 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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124 #if ( portSTACK_GROWTH > 0 )
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125 portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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128 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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129 unsigned portBASE_TYPE uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
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132 #if ( configUSE_TRACE_FACILITY == 1 )
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133 unsigned portBASE_TYPE uxTCBNumber; /*< 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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134 unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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137 #if ( configUSE_MUTEXES == 1 )
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138 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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141 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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142 pdTASK_HOOK_CODE pxTaskTag;
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145 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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146 unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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149 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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150 /* Allocate a Newlib reent structure that is specific to this task.
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151 Note Newlib support has been included by popular demand, but is not
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152 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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153 responsible for resulting newlib operation. User must be familiar with
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154 newlib and must provide system-wide implementations of the necessary
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155 stubs. Be warned that (at the time of writing) the current newlib design
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156 implements a system-wide malloc() that must be provided with locks. */
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157 struct _reent xNewLib_reent;
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164 * Some kernel aware debuggers require the data the debugger needs access to to
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165 * be global, rather than file scope.
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167 #ifdef portREMOVE_STATIC_QUALIFIER
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171 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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173 /* Lists for ready and blocked tasks. --------------------*/
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174 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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175 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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176 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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177 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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178 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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179 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
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181 #if ( INCLUDE_vTaskDelete == 1 )
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183 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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184 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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188 #if ( INCLUDE_vTaskSuspend == 1 )
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190 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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194 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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196 PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
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200 /* Other file private variables. --------------------------------*/
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201 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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202 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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203 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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204 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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205 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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206 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxPendedTicks = ( unsigned portBASE_TYPE ) 0U;
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207 PRIVILEGED_DATA static volatile portBASE_TYPE xYieldPending = ( portBASE_TYPE ) pdFALSE;
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208 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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209 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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210 PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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212 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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214 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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215 PRIVILEGED_DATA static unsigned long ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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219 /* Debugging and trace facilities private variables and macros. ------------*/
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222 * The value used to fill the stack of a task when the task is created. This
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223 * is used purely for checking the high water mark for tasks.
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225 #define tskSTACK_FILL_BYTE ( 0xa5U )
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228 * Macros used by vListTask to indicate which state a task is in.
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230 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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231 #define tskREADY_CHAR ( ( signed char ) 'R' )
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232 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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233 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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235 /*-----------------------------------------------------------*/
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237 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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239 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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240 performed in a generic way that is not optimised to any particular
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241 microcontroller architecture. */
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243 /* uxTopReadyPriority holds the priority of the highest priority ready
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245 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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247 if( ( uxPriority ) > uxTopReadyPriority ) \
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249 uxTopReadyPriority = ( uxPriority ); \
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251 } /* taskRECORD_READY_PRIORITY */
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253 /*-----------------------------------------------------------*/
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255 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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257 /* Find the highest priority queue that contains ready tasks. */ \
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258 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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260 configASSERT( uxTopReadyPriority ); \
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261 --uxTopReadyPriority; \
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264 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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265 the same priority get an equal share of the processor time. */ \
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266 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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267 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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269 /*-----------------------------------------------------------*/
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271 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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272 they are only required when a port optimised method of task selection is
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274 #define taskRESET_READY_PRIORITY( uxPriority )
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275 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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277 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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279 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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280 performed in a way that is tailored to the particular microcontroller
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281 architecture being used. */
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283 /* A port optimised version is provided. Call the port defined macros. */
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284 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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286 /*-----------------------------------------------------------*/
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288 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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290 unsigned portBASE_TYPE uxTopPriority; \
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292 /* Find the highest priority queue that contains ready tasks. */ \
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293 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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294 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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295 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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296 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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298 /*-----------------------------------------------------------*/
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300 /* A port optimised version is provided, call it only if the TCB being reset
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301 is being referenced from a ready list. If it is referenced from a delayed
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302 or suspended list then it won't be in a ready list. */
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303 #define taskRESET_READY_PRIORITY( uxPriority ) \
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305 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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307 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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311 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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313 /*-----------------------------------------------------------*/
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315 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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316 count overflows. */
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317 #define taskSWITCH_DELAYED_LISTS() \
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321 /* The delayed tasks list should be empty when the lists are switched. */ \
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322 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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324 pxTemp = pxDelayedTaskList; \
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325 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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326 pxOverflowDelayedTaskList = pxTemp; \
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327 xNumOfOverflows++; \
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329 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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331 /* The new current delayed list is empty. Set \
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332 xNextTaskUnblockTime to the maximum possible value so it is \
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333 extremely unlikely that the \
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334 if( xTickCount >= xNextTaskUnblockTime ) test will pass until \
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335 there is an item in the delayed list. */ \
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336 xNextTaskUnblockTime = portMAX_DELAY; \
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340 /* The new current delayed list is not empty, get the value of \
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341 the item at the head of the delayed list. This is the time at \
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342 which the task at the head of the delayed list should be removed \
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343 from the Blocked state. */ \
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344 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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345 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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349 /*-----------------------------------------------------------*/
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352 * Place the task represented by pxTCB into the appropriate ready list for
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353 * the task. It is inserted at the end of the list.
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355 #define prvAddTaskToReadyList( pxTCB ) \
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356 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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357 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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358 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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359 /*-----------------------------------------------------------*/
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362 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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363 * where NULL is used to indicate that the handle of the currently executing
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364 * task should be used in place of the parameter. This macro simply checks to
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365 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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367 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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369 /* Callback function prototypes. --------------------------*/
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370 extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
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371 extern void vApplicationTickHook( void );
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373 /* File private functions. --------------------------------*/
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376 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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377 * into the TCB structure.
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379 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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382 * Utility to ready all the lists used by the scheduler. This is called
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383 * automatically upon the creation of the first task.
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385 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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388 * The idle task, which as all tasks is implemented as a never ending loop.
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389 * The idle task is automatically created and added to the ready lists upon
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390 * creation of the first user task.
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392 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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393 * language extensions. The equivalent prototype for this function is:
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395 * void prvIdleTask( void *pvParameters );
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398 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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401 * Utility to free all memory allocated by the scheduler to hold a TCB,
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402 * including the stack pointed to by the TCB.
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404 * This does not free memory allocated by the task itself (i.e. memory
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405 * allocated by calls to pvPortMalloc from within the tasks application code).
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407 #if ( INCLUDE_vTaskDelete == 1 )
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409 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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414 * Used only by the idle task. This checks to see if anything has been placed
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415 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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416 * and its TCB deleted.
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418 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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421 * The currently executing task is entering the Blocked state. Add the task to
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422 * either the current or the overflow delayed task list.
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424 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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427 * Allocates memory from the heap for a TCB and associated stack. Checks the
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428 * allocation was successful.
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430 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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433 * Fills an xTaskStatusType structure with information on each task that is
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434 * referenced from the pxList list (which may be a ready list, a delayed list,
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435 * a suspended list, etc.).
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437 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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438 * NORMAL APPLICATION CODE.
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440 #if ( configUSE_TRACE_FACILITY == 1 )
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442 static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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447 * When a task is created, the stack of the task is filled with a known value.
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448 * This function determines the 'high water mark' of the task stack by
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449 * determining how much of the stack remains at the original preset value.
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451 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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453 static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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458 * Return the amount of time, in ticks, that will pass before the kernel will
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459 * next move a task from the Blocked state to the Running state.
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461 * This conditional compilation should use inequality to 0, not equality to 1.
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462 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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463 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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464 * set to a value other than 1.
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466 #if ( configUSE_TICKLESS_IDLE != 0 )
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468 static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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472 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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474 signed portBASE_TYPE xReturn;
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477 configASSERT( pxTaskCode );
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478 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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480 /* Allocate the memory required by the TCB and stack for the new task,
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481 checking that the allocation was successful. */
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482 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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484 if( pxNewTCB != NULL )
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486 portSTACK_TYPE *pxTopOfStack;
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488 #if( portUSING_MPU_WRAPPERS == 1 )
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489 /* Should the task be created in privileged mode? */
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490 portBASE_TYPE xRunPrivileged;
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491 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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493 xRunPrivileged = pdTRUE;
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497 xRunPrivileged = pdFALSE;
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499 uxPriority &= ~portPRIVILEGE_BIT;
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500 #endif /* portUSING_MPU_WRAPPERS == 1 */
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502 /* Calculate the top of stack address. This depends on whether the
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503 stack grows from high memory to low (as per the 80x86) or visa versa.
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504 portSTACK_GROWTH is used to make the result positive or negative as
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505 required by the port. */
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506 #if( portSTACK_GROWTH < 0 )
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508 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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509 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
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511 /* Check the alignment of the calculated top of stack is correct. */
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512 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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514 #else /* portSTACK_GROWTH */
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516 pxTopOfStack = pxNewTCB->pxStack;
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518 /* Check the alignment of the stack buffer is correct. */
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519 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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521 /* If we want to use stack checking on architectures that use
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522 a positive stack growth direction then we also need to store the
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523 other extreme of the stack space. */
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524 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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526 #endif /* portSTACK_GROWTH */
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528 /* Setup the newly allocated TCB with the initial state of the task. */
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529 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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531 /* Initialize the TCB stack to look as if the task was already running,
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532 but had been interrupted by the scheduler. The return address is set
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533 to the start of the task function. Once the stack has been initialised
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534 the top of stack variable is updated. */
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535 #if( portUSING_MPU_WRAPPERS == 1 )
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537 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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539 #else /* portUSING_MPU_WRAPPERS */
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541 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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543 #endif /* portUSING_MPU_WRAPPERS */
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545 if( ( void * ) pxCreatedTask != NULL )
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547 /* Pass the TCB out - in an anonymous way. The calling function/
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548 task can use this as a handle to delete the task later if
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550 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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553 /* Ensure interrupts don't access the task lists while they are being
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555 taskENTER_CRITICAL();
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557 uxCurrentNumberOfTasks++;
\r
558 if( pxCurrentTCB == NULL )
\r
560 /* There are no other tasks, or all the other tasks are in
\r
561 the suspended state - make this the current task. */
\r
562 pxCurrentTCB = pxNewTCB;
\r
564 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
566 /* This is the first task to be created so do the preliminary
\r
567 initialisation required. We will not recover if this call
\r
568 fails, but we will report the failure. */
\r
569 prvInitialiseTaskLists();
\r
574 /* If the scheduler is not already running, make this task the
\r
575 current task if it is the highest priority task to be created
\r
577 if( xSchedulerRunning == pdFALSE )
\r
579 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
581 pxCurrentTCB = pxNewTCB;
\r
588 #if ( configUSE_TRACE_FACILITY == 1 )
\r
590 /* Add a counter into the TCB for tracing only. */
\r
591 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
593 #endif /* configUSE_TRACE_FACILITY */
\r
594 traceTASK_CREATE( pxNewTCB );
\r
596 prvAddTaskToReadyList( pxNewTCB );
\r
599 portSETUP_TCB( pxNewTCB );
\r
601 taskEXIT_CRITICAL();
\r
605 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
606 traceTASK_CREATE_FAILED();
\r
609 if( xReturn == pdPASS )
\r
611 if( xSchedulerRunning != pdFALSE )
\r
613 /* If the created task is of a higher priority than the current task
\r
614 then it should run now. */
\r
615 if( pxCurrentTCB->uxPriority < uxPriority )
\r
617 portYIELD_WITHIN_API();
\r
624 /*-----------------------------------------------------------*/
\r
626 #if ( INCLUDE_vTaskDelete == 1 )
\r
628 void vTaskDelete( xTaskHandle xTaskToDelete )
\r
632 taskENTER_CRITICAL();
\r
634 /* Ensure a yield is performed if the current task is being
\r
636 if( xTaskToDelete == pxCurrentTCB )
\r
638 xTaskToDelete = NULL;
\r
641 /* If null is passed in here then we are deleting ourselves. */
\r
642 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
644 /* Remove task from the ready list and place in the termination list.
\r
645 This will stop the task from be scheduled. The idle task will check
\r
646 the termination list and free up any memory allocated by the
\r
647 scheduler for the TCB and stack. */
\r
648 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
650 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
653 /* Is the task waiting on an event also? */
\r
654 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
656 uxListRemove( &( pxTCB->xEventListItem ) );
\r
659 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
661 /* Increment the ucTasksDeleted variable so the idle task knows
\r
662 there is a task that has been deleted and that it should therefore
\r
663 check the xTasksWaitingTermination list. */
\r
666 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
667 can detect that the task lists need re-generating. */
\r
670 traceTASK_DELETE( pxTCB );
\r
672 taskEXIT_CRITICAL();
\r
674 /* Force a reschedule if we have just deleted the current task. */
\r
675 if( xSchedulerRunning != pdFALSE )
\r
677 if( ( void * ) xTaskToDelete == NULL )
\r
679 portYIELD_WITHIN_API();
\r
684 #endif /* INCLUDE_vTaskDelete */
\r
685 /*-----------------------------------------------------------*/
\r
687 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
689 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
691 portTickType xTimeToWake;
\r
692 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
694 configASSERT( pxPreviousWakeTime );
\r
695 configASSERT( ( xTimeIncrement > 0U ) );
\r
699 /* Minor optimisation. The tick count cannot change in this
\r
701 const portTickType xConstTickCount = xTickCount;
\r
703 /* Generate the tick time at which the task wants to wake. */
\r
704 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
706 if( xConstTickCount < *pxPreviousWakeTime )
\r
708 /* The tick count has overflowed since this function was
\r
709 lasted called. In this case the only time we should ever
\r
710 actually delay is if the wake time has also overflowed,
\r
711 and the wake time is greater than the tick time. When this
\r
712 is the case it is as if neither time had overflowed. */
\r
713 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
715 xShouldDelay = pdTRUE;
\r
720 /* The tick time has not overflowed. In this case we will
\r
721 delay if either the wake time has overflowed, and/or the
\r
722 tick time is less than the wake time. */
\r
723 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
725 xShouldDelay = pdTRUE;
\r
729 /* Update the wake time ready for the next call. */
\r
730 *pxPreviousWakeTime = xTimeToWake;
\r
732 if( xShouldDelay != pdFALSE )
\r
734 traceTASK_DELAY_UNTIL();
\r
736 /* We must remove ourselves from the ready list before adding
\r
737 ourselves to the blocked list as the same list item is used for
\r
739 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
741 /* The current task must be in a ready list, so there is
\r
742 no need to check, and the port reset macro can be called
\r
744 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
747 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
750 xAlreadyYielded = xTaskResumeAll();
\r
752 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
753 have put ourselves to sleep. */
\r
754 if( xAlreadyYielded == pdFALSE )
\r
756 portYIELD_WITHIN_API();
\r
760 #endif /* INCLUDE_vTaskDelayUntil */
\r
761 /*-----------------------------------------------------------*/
\r
763 #if ( INCLUDE_vTaskDelay == 1 )
\r
765 void vTaskDelay( portTickType xTicksToDelay )
\r
767 portTickType xTimeToWake;
\r
768 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
770 /* A delay time of zero just forces a reschedule. */
\r
771 if( xTicksToDelay > ( portTickType ) 0U )
\r
777 /* A task that is removed from the event list while the
\r
778 scheduler is suspended will not get placed in the ready
\r
779 list or removed from the blocked list until the scheduler
\r
782 This task cannot be in an event list as it is the currently
\r
785 /* Calculate the time to wake - this may overflow but this is
\r
787 xTimeToWake = xTickCount + xTicksToDelay;
\r
789 /* We must remove ourselves from the ready list before adding
\r
790 ourselves to the blocked list as the same list item is used for
\r
792 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
794 /* The current task must be in a ready list, so there is
\r
795 no need to check, and the port reset macro can be called
\r
797 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
799 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
801 xAlreadyYielded = xTaskResumeAll();
\r
804 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
805 have put ourselves to sleep. */
\r
806 if( xAlreadyYielded == pdFALSE )
\r
808 portYIELD_WITHIN_API();
\r
812 #endif /* INCLUDE_vTaskDelay */
\r
813 /*-----------------------------------------------------------*/
\r
815 #if ( INCLUDE_eTaskGetState == 1 )
\r
817 eTaskState eTaskGetState( xTaskHandle xTask )
\r
819 eTaskState eReturn;
\r
820 xList *pxStateList;
\r
821 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
823 if( pxTCB == pxCurrentTCB )
\r
825 /* The task calling this function is querying its own state. */
\r
826 eReturn = eRunning;
\r
830 taskENTER_CRITICAL();
\r
832 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
834 taskEXIT_CRITICAL();
\r
836 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
838 /* The task being queried is referenced from one of the Blocked
\r
840 eReturn = eBlocked;
\r
843 #if ( INCLUDE_vTaskSuspend == 1 )
\r
844 else if( pxStateList == &xSuspendedTaskList )
\r
846 /* The task being queried is referenced from the suspended
\r
848 eReturn = eSuspended;
\r
852 #if ( INCLUDE_vTaskDelete == 1 )
\r
853 else if( pxStateList == &xTasksWaitingTermination )
\r
855 /* The task being queried is referenced from the deleted
\r
857 eReturn = eDeleted;
\r
863 /* If the task is not in any other state, it must be in the
\r
864 Ready (including pending ready) state. */
\r
872 #endif /* INCLUDE_eTaskGetState */
\r
873 /*-----------------------------------------------------------*/
\r
875 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
877 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
\r
880 unsigned portBASE_TYPE uxReturn;
\r
882 taskENTER_CRITICAL();
\r
884 /* If null is passed in here then we are changing the
\r
885 priority of the calling function. */
\r
886 pxTCB = prvGetTCBFromHandle( xTask );
\r
887 uxReturn = pxTCB->uxPriority;
\r
889 taskEXIT_CRITICAL();
\r
894 #endif /* INCLUDE_uxTaskPriorityGet */
\r
895 /*-----------------------------------------------------------*/
\r
897 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
899 void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
\r
902 unsigned portBASE_TYPE uxCurrentPriority, uxPriorityUsedOnEntry;
\r
903 portBASE_TYPE xYieldRequired = pdFALSE;
\r
905 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
907 /* Ensure the new priority is valid. */
\r
908 if( uxNewPriority >= configMAX_PRIORITIES )
\r
910 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
913 taskENTER_CRITICAL();
\r
915 if( xTask == ( xTaskHandle ) pxCurrentTCB )
\r
920 /* If null is passed in here then we are changing the
\r
921 priority of the calling function. */
\r
922 pxTCB = prvGetTCBFromHandle( xTask );
\r
924 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
926 #if ( configUSE_MUTEXES == 1 )
\r
928 uxCurrentPriority = pxTCB->uxBasePriority;
\r
932 uxCurrentPriority = pxTCB->uxPriority;
\r
936 if( uxCurrentPriority != uxNewPriority )
\r
938 /* The priority change may have readied a task of higher
\r
939 priority than the calling task. */
\r
940 if( uxNewPriority > uxCurrentPriority )
\r
942 if( xTask != NULL )
\r
944 /* The priority of another task is being raised. If we
\r
945 were raising the priority of the currently running task
\r
946 there would be no need to switch as it must have already
\r
947 been the highest priority task. */
\r
948 xYieldRequired = pdTRUE;
\r
951 else if( xTask == NULL )
\r
953 /* Setting our own priority down means there may now be another
\r
954 task of higher priority that is ready to execute. */
\r
955 xYieldRequired = pdTRUE;
\r
958 /* Remember the ready list the task might be referenced from
\r
959 before its uxPriority member is changed so the
\r
960 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
961 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
963 #if ( configUSE_MUTEXES == 1 )
\r
965 /* Only change the priority being used if the task is not
\r
966 currently using an inherited priority. */
\r
967 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
969 pxTCB->uxPriority = uxNewPriority;
\r
972 /* The base priority gets set whatever. */
\r
973 pxTCB->uxBasePriority = uxNewPriority;
\r
977 pxTCB->uxPriority = uxNewPriority;
\r
981 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
983 /* If the task is in the blocked or suspended list we need do
\r
984 nothing more than change it's priority variable. However, if
\r
985 the task is in a ready list it needs to be removed and placed
\r
986 in the queue appropriate to its new priority. */
\r
987 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
989 /* The task is currently in its ready list - remove before adding
\r
990 it to it's new ready list. As we are in a critical section we
\r
991 can do this even if the scheduler is suspended. */
\r
992 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
994 taskRESET_READY_PRIORITY( uxPriorityUsedOnEntry );
\r
996 prvAddTaskToReadyList( pxTCB );
\r
999 if( xYieldRequired == pdTRUE )
\r
1001 portYIELD_WITHIN_API();
\r
1004 /* Remove compiler warning about unused variables when the port
\r
1005 optimised task selection is not being used. */
\r
1006 ( void ) uxPriorityUsedOnEntry;
\r
1009 taskEXIT_CRITICAL();
\r
1012 #endif /* INCLUDE_vTaskPrioritySet */
\r
1013 /*-----------------------------------------------------------*/
\r
1015 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1017 void vTaskSuspend( xTaskHandle xTaskToSuspend )
\r
1021 taskENTER_CRITICAL();
\r
1023 /* Ensure a yield is performed if the current task is being
\r
1025 if( xTaskToSuspend == ( xTaskHandle ) pxCurrentTCB )
\r
1027 xTaskToSuspend = NULL;
\r
1030 /* If null is passed in here then we are suspending ourselves. */
\r
1031 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1033 traceTASK_SUSPEND( pxTCB );
\r
1035 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
1036 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1038 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1041 /* Is the task waiting on an event also? */
\r
1042 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1044 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1047 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1049 taskEXIT_CRITICAL();
\r
1051 if( ( void * ) xTaskToSuspend == NULL )
\r
1053 if( xSchedulerRunning != pdFALSE )
\r
1055 /* We have just suspended the current task. */
\r
1056 portYIELD_WITHIN_API();
\r
1060 /* The scheduler is not running, but the task that was pointed
\r
1061 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1062 must be adjusted to point to a different task. */
\r
1063 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1065 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1066 NULL so when the next task is created pxCurrentTCB will
\r
1067 be set to point to it no matter what its relative priority
\r
1069 pxCurrentTCB = NULL;
\r
1073 vTaskSwitchContext();
\r
1079 #endif /* INCLUDE_vTaskSuspend */
\r
1080 /*-----------------------------------------------------------*/
\r
1082 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1084 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
1086 portBASE_TYPE xReturn = pdFALSE;
\r
1087 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1089 /* It does not make sense to check if the calling task is suspended. */
\r
1090 configASSERT( xTask );
\r
1092 /* Is the task we are attempting to resume actually in the
\r
1093 suspended list? */
\r
1094 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1096 /* Has the task already been resumed from within an ISR? */
\r
1097 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
1099 /* Is it in the suspended list because it is in the
\r
1100 Suspended state? It is possible to be in the suspended
\r
1101 list because it is blocked on a task with no timeout
\r
1103 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
1113 #endif /* INCLUDE_vTaskSuspend */
\r
1114 /*-----------------------------------------------------------*/
\r
1116 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1118 void vTaskResume( xTaskHandle xTaskToResume )
\r
1120 tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
\r
1122 /* It does not make sense to resume the calling task. */
\r
1123 configASSERT( xTaskToResume );
\r
1125 /* The parameter cannot be NULL as it is impossible to resume the
\r
1126 currently executing task. */
\r
1127 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1129 taskENTER_CRITICAL();
\r
1131 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1133 traceTASK_RESUME( pxTCB );
\r
1135 /* As we are in a critical section we can access the ready
\r
1136 lists even if the scheduler is suspended. */
\r
1137 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1138 prvAddTaskToReadyList( pxTCB );
\r
1140 /* We may have just resumed a higher priority task. */
\r
1141 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1143 /* This yield may not cause the task just resumed to run, but
\r
1144 will leave the lists in the correct state for the next yield. */
\r
1145 portYIELD_WITHIN_API();
\r
1149 taskEXIT_CRITICAL();
\r
1153 #endif /* INCLUDE_vTaskSuspend */
\r
1155 /*-----------------------------------------------------------*/
\r
1157 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1159 portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
\r
1161 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1162 tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
\r
1163 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1165 configASSERT( xTaskToResume );
\r
1167 /* RTOS ports that support interrupt nesting have the concept of a
\r
1168 maximum system call (or maximum API call) interrupt priority.
\r
1169 Interrupts that are above the maximum system call priority are keep
\r
1170 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1171 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1172 is defined in FreeRTOSConfig.h then
\r
1173 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1174 failure if a FreeRTOS API function is called from an interrupt that has
\r
1175 been assigned a priority above the configured maximum system call
\r
1176 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1177 from interrupts that have been assigned a priority at or (logically)
\r
1178 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1179 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1180 simple as possible. More information (albeit Cortex-M specific) is
\r
1181 provided on the following link:
\r
1182 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1183 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1185 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1187 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1189 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1191 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1193 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1194 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1195 prvAddTaskToReadyList( pxTCB );
\r
1199 /* We cannot access the delayed or ready lists, so will hold this
\r
1200 task pending until the scheduler is resumed, at which point a
\r
1201 yield will be performed if necessary. */
\r
1202 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1206 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1208 return xYieldRequired;
\r
1211 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1212 /*-----------------------------------------------------------*/
\r
1214 void vTaskStartScheduler( void )
\r
1216 portBASE_TYPE xReturn;
\r
1218 /* Add the idle task at the lowest priority. */
\r
1219 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1221 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1222 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1223 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );
\r
1227 /* Create the idle task without storing its handle. */
\r
1228 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
\r
1230 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1232 #if ( configUSE_TIMERS == 1 )
\r
1234 if( xReturn == pdPASS )
\r
1236 xReturn = xTimerCreateTimerTask();
\r
1239 #endif /* configUSE_TIMERS */
\r
1241 if( xReturn == pdPASS )
\r
1243 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1244 before or during the call to xPortStartScheduler(). The stacks of
\r
1245 the created tasks contain a status word with interrupts switched on
\r
1246 so interrupts will automatically get re-enabled when the first task
\r
1249 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1250 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1251 portDISABLE_INTERRUPTS();
\r
1253 xSchedulerRunning = pdTRUE;
\r
1254 xTickCount = ( portTickType ) 0U;
\r
1256 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1257 macro must be defined to configure the timer/counter used to generate
\r
1258 the run time counter time base. */
\r
1259 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1261 /* Setting up the timer tick is hardware specific and thus in the
\r
1262 portable interface. */
\r
1263 if( xPortStartScheduler() != pdFALSE )
\r
1265 /* Should not reach here as if the scheduler is running the
\r
1266 function will not return. */
\r
1270 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1275 /* This line will only be reached if the kernel could not be started,
\r
1276 because there was not enough FreeRTOS heap to create the idle task
\r
1277 or the timer task. */
\r
1278 configASSERT( xReturn );
\r
1281 /*-----------------------------------------------------------*/
\r
1283 void vTaskEndScheduler( void )
\r
1285 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1286 routine so the original ISRs can be restored if necessary. The port
\r
1287 layer must ensure interrupts enable bit is left in the correct state. */
\r
1288 portDISABLE_INTERRUPTS();
\r
1289 xSchedulerRunning = pdFALSE;
\r
1290 vPortEndScheduler();
\r
1292 /*----------------------------------------------------------*/
\r
1294 void vTaskSuspendAll( void )
\r
1296 /* A critical section is not required as the variable is of type
\r
1298 ++uxSchedulerSuspended;
\r
1300 /*----------------------------------------------------------*/
\r
1302 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1304 static portTickType prvGetExpectedIdleTime( void )
\r
1306 portTickType xReturn;
\r
1308 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1312 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1314 /* There are other idle priority tasks in the ready state. If
\r
1315 time slicing is used then the very next tick interrupt must be
\r
1321 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1327 #endif /* configUSE_TICKLESS_IDLE */
\r
1328 /*----------------------------------------------------------*/
\r
1330 signed portBASE_TYPE xTaskResumeAll( void )
\r
1332 register tskTCB *pxTCB;
\r
1333 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1334 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1336 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1337 previous call to vTaskSuspendAll(). */
\r
1338 configASSERT( uxSchedulerSuspended );
\r
1340 /* It is possible that an ISR caused a task to be removed from an event
\r
1341 list while the scheduler was suspended. If this was the case then the
\r
1342 removed task will have been added to the xPendingReadyList. Once the
\r
1343 scheduler has been resumed it is safe to move all the pending ready
\r
1344 tasks from this list into their appropriate ready list. */
\r
1345 taskENTER_CRITICAL();
\r
1347 --uxSchedulerSuspended;
\r
1349 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1351 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1353 /* Move any readied tasks from the pending list into the
\r
1354 appropriate ready list. */
\r
1355 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1357 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1358 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1359 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1360 prvAddTaskToReadyList( pxTCB );
\r
1362 /* If we have moved a task that has a priority higher than
\r
1363 the current task then we should yield. */
\r
1364 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1366 xYieldRequired = pdTRUE;
\r
1370 /* If any ticks occurred while the scheduler was suspended then
\r
1371 they should be processed now. This ensures the tick count does not
\r
1372 slip, and that any delayed tasks are resumed at the correct time. */
\r
1373 if( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1375 while( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1377 if( xTaskIncrementTick() != pdFALSE )
\r
1379 xYieldRequired = pdTRUE;
\r
1385 if( ( xYieldRequired == pdTRUE ) || ( xYieldPending == pdTRUE ) )
\r
1387 xAlreadyYielded = pdTRUE;
\r
1388 xYieldPending = pdFALSE;
\r
1389 portYIELD_WITHIN_API();
\r
1394 taskEXIT_CRITICAL();
\r
1396 return xAlreadyYielded;
\r
1398 /*-----------------------------------------------------------*/
\r
1400 portTickType xTaskGetTickCount( void )
\r
1402 portTickType xTicks;
\r
1404 /* Critical section required if running on a 16 bit processor. */
\r
1405 taskENTER_CRITICAL();
\r
1407 xTicks = xTickCount;
\r
1409 taskEXIT_CRITICAL();
\r
1413 /*-----------------------------------------------------------*/
\r
1415 portTickType xTaskGetTickCountFromISR( void )
\r
1417 portTickType xReturn;
\r
1418 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1420 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1421 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1422 above the maximum system call priority are keep permanently enabled, even
\r
1423 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1424 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1425 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1426 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1427 assigned a priority above the configured maximum system call priority.
\r
1428 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1429 that have been assigned a priority at or (logically) below the maximum
\r
1430 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1431 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1432 More information (albeit Cortex-M specific) is provided on the following
\r
1433 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1434 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1436 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1437 xReturn = xTickCount;
\r
1438 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1442 /*-----------------------------------------------------------*/
\r
1444 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1446 /* A critical section is not required because the variables are of type
\r
1448 return uxCurrentNumberOfTasks;
\r
1450 /*-----------------------------------------------------------*/
\r
1452 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1454 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1458 /* If null is passed in here then the name of the calling task is being queried. */
\r
1459 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1460 configASSERT( pxTCB );
\r
1461 return &( pxTCB->pcTaskName[ 0 ] );
\r
1464 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1465 /*-----------------------------------------------------------*/
\r
1467 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1469 unsigned portBASE_TYPE xTaskGetSystemState( xTaskStatusType *pxTaskStatusArray, unsigned portBASE_TYPE uxArraySize, unsigned long *pulTotalRunTime )
\r
1471 unsigned portBASE_TYPE uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1473 vTaskSuspendAll();
\r
1475 /* Is there a space in the array for each task in the system? */
\r
1476 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1478 /* Fill in an xTaskStatusType structure with information on each
\r
1479 task in the Ready state. */
\r
1483 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1485 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1487 /* Fill in an xTaskStatusType structure with information on each
\r
1488 task in the Blocked state. */
\r
1489 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxDelayedTaskList, eBlocked );
\r
1490 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxOverflowDelayedTaskList, eBlocked );
\r
1492 #if( INCLUDE_vTaskDelete == 1 )
\r
1494 /* Fill in an xTaskStatusType structure with information on
\r
1495 each task that has been deleted but not yet cleaned up. */
\r
1496 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1500 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1502 /* Fill in an xTaskStatusType structure with information on
\r
1503 each task in the Suspended state. */
\r
1504 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1508 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1510 if( pulTotalRunTime != NULL )
\r
1512 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1517 if( pulTotalRunTime != NULL )
\r
1519 *pulTotalRunTime = 0;
\r
1530 #endif /* configUSE_TRACE_FACILITY */
\r
1531 /*----------------------------------------------------------*/
\r
1533 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1535 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1537 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1538 started, then xIdleTaskHandle will be NULL. */
\r
1539 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1540 return xIdleTaskHandle;
\r
1543 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1544 /*----------------------------------------------------------*/
\r
1546 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1547 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1548 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1550 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1552 void vTaskStepTick( portTickType xTicksToJump )
\r
1554 /* Correct the tick count value after a period during which the tick
\r
1555 was suppressed. Note this does *not* call the tick hook function for
\r
1556 each stepped tick. */
\r
1557 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1558 xTickCount += xTicksToJump;
\r
1561 #endif /* configUSE_TICKLESS_IDLE */
\r
1562 /*----------------------------------------------------------*/
\r
1564 portBASE_TYPE xTaskIncrementTick( void )
\r
1567 portTickType xItemValue;
\r
1568 portBASE_TYPE xSwitchRequired = pdFALSE;
\r
1570 /* Called by the portable layer each time a tick interrupt occurs.
\r
1571 Increments the tick then checks to see if the new tick value will cause any
\r
1572 tasks to be unblocked. */
\r
1573 traceTASK_INCREMENT_TICK( xTickCount );
\r
1574 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1576 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1577 delayed lists if it wraps to 0. */
\r
1581 /* Minor optimisation. The tick count cannot change in this
\r
1583 const portTickType xConstTickCount = xTickCount;
\r
1585 if( xConstTickCount == ( portTickType ) 0U )
\r
1587 taskSWITCH_DELAYED_LISTS();
\r
1590 /* See if this tick has made a timeout expire. Tasks are stored in the
\r
1591 queue in the order of their wake time - meaning once one tasks has been
\r
1592 found whose block time has not expired there is no need not look any
\r
1593 further down the list. */
\r
1594 if( xConstTickCount >= xNextTaskUnblockTime )
\r
1598 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1600 /* The delayed list is empty. Set xNextTaskUnblockTime to
\r
1601 the maximum possible value so it is extremely unlikely that
\r
1602 the if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1603 next time through. */
\r
1604 xNextTaskUnblockTime = portMAX_DELAY;
\r
1609 /* The delayed list is not empty, get the value of the item
\r
1610 at the head of the delayed list. This is the time at which
\r
1611 the task at the head of the delayed list must be removed
\r
1612 from the Blocked state. */
\r
1613 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1614 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1616 if( xConstTickCount < xItemValue )
\r
1618 /* It is not time to unblock this item yet, but the item
\r
1619 value is the time at which the task at the head of the
\r
1620 blocked list must be removed from the Blocked state -
\r
1621 so record the item value in xNextTaskUnblockTime. */
\r
1622 xNextTaskUnblockTime = xItemValue;
\r
1626 /* It is time to remove the item from the Blocked state. */
\r
1627 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1629 /* Is the task waiting on an event also? If so remove it
\r
1630 from the event list. */
\r
1631 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1633 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1636 /* Place the unblocked task into the appropriate ready
\r
1638 prvAddTaskToReadyList( pxTCB );
\r
1640 /* A task being unblocked cannot cause an immediate context
\r
1641 switch if preemption is turned off. */
\r
1642 #if ( configUSE_PREEMPTION == 1 )
\r
1644 /* Preemption is on, but a context switch should only
\r
1645 be performed if the unblocked task has a priority that
\r
1646 is equal to or higher than the currently executing
\r
1648 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1650 xSwitchRequired = pdTRUE;
\r
1653 #endif /* configUSE_PREEMPTION */
\r
1659 /* Tasks of equal priority to the currently running task will share
\r
1660 processing time (time slice) if preemption is on, and the application
\r
1661 writer has not explicitly turned time slicing off. */
\r
1662 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
1664 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > 1 )
\r
1666 xSwitchRequired = pdTRUE;
\r
1669 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
1675 /* The tick hook gets called at regular intervals, even if the
\r
1676 scheduler is locked. */
\r
1677 #if ( configUSE_TICK_HOOK == 1 )
\r
1679 vApplicationTickHook();
\r
1684 #if ( configUSE_TICK_HOOK == 1 )
\r
1686 /* Guard against the tick hook being called when the missed tick
\r
1687 count is being unwound (when the scheduler is being unlocked). */
\r
1688 if( uxPendedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1690 vApplicationTickHook();
\r
1693 #endif /* configUSE_TICK_HOOK */
\r
1695 return xSwitchRequired;
\r
1697 /*-----------------------------------------------------------*/
\r
1699 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1701 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1705 /* If xTask is NULL then we are setting our own task hook. */
\r
1706 if( xTask == NULL )
\r
1708 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1712 xTCB = ( tskTCB * ) xTask;
\r
1715 /* Save the hook function in the TCB. A critical section is required as
\r
1716 the value can be accessed from an interrupt. */
\r
1717 taskENTER_CRITICAL();
\r
1718 xTCB->pxTaskTag = pxHookFunction;
\r
1719 taskEXIT_CRITICAL();
\r
1722 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1723 /*-----------------------------------------------------------*/
\r
1725 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1727 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1730 pdTASK_HOOK_CODE xReturn;
\r
1732 /* If xTask is NULL then we are setting our own task hook. */
\r
1733 if( xTask == NULL )
\r
1735 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1739 xTCB = ( tskTCB * ) xTask;
\r
1742 /* Save the hook function in the TCB. A critical section is required as
\r
1743 the value can be accessed from an interrupt. */
\r
1744 taskENTER_CRITICAL();
\r
1745 xReturn = xTCB->pxTaskTag;
\r
1746 taskEXIT_CRITICAL();
\r
1751 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1752 /*-----------------------------------------------------------*/
\r
1754 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1756 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1759 portBASE_TYPE xReturn;
\r
1761 /* If xTask is NULL then we are calling our own task hook. */
\r
1762 if( xTask == NULL )
\r
1764 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1768 xTCB = ( tskTCB * ) xTask;
\r
1771 if( xTCB->pxTaskTag != NULL )
\r
1773 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1783 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1784 /*-----------------------------------------------------------*/
\r
1786 void vTaskSwitchContext( void )
\r
1788 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1790 /* The scheduler is currently suspended - do not allow a context
\r
1792 xYieldPending = pdTRUE;
\r
1796 traceTASK_SWITCHED_OUT();
\r
1798 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1800 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1801 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1803 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1806 /* Add the amount of time the task has been running to the
\r
1807 accumulated time so far. The time the task started running was
\r
1808 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
1809 protection here so count values are only valid until the timer
\r
1810 overflows. The guard against negative values is to protect
\r
1811 against suspect run time stat counter implementations - which
\r
1812 are provided by the application, not the kernel. */
\r
1813 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
1815 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
1817 ulTaskSwitchedInTime = ulTotalRunTime;
\r
1819 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1821 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1822 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1824 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
1826 traceTASK_SWITCHED_IN();
\r
1828 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1830 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1831 structure specific to this task. */
\r
1832 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1834 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1837 /*-----------------------------------------------------------*/
\r
1839 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1841 portTickType xTimeToWake;
\r
1843 configASSERT( pxEventList );
\r
1845 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1846 SCHEDULER SUSPENDED. */
\r
1848 /* Place the event list item of the TCB in the appropriate event list.
\r
1849 This is placed in the list in priority order so the highest priority task
\r
1850 is the first to be woken by the event. */
\r
1851 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1853 /* We must remove ourselves from the ready list before adding ourselves
\r
1854 to the blocked list as the same list item is used for both lists. We have
\r
1855 exclusive access to the ready lists as the scheduler is locked. */
\r
1856 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1858 /* The current task must be in a ready list, so there is no need to
\r
1859 check, and the port reset macro can be called directly. */
\r
1860 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1863 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1865 if( xTicksToWait == portMAX_DELAY )
\r
1867 /* Add ourselves to the suspended task list instead of a delayed task
\r
1868 list to ensure we are not woken by a timing event. We will block
\r
1870 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1874 /* Calculate the time at which the task should be woken if the event does
\r
1875 not occur. This may overflow but this doesn't matter. */
\r
1876 xTimeToWake = xTickCount + xTicksToWait;
\r
1877 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1880 #else /* INCLUDE_vTaskSuspend */
\r
1882 /* Calculate the time at which the task should be woken if the event does
\r
1883 not occur. This may overflow but this doesn't matter. */
\r
1884 xTimeToWake = xTickCount + xTicksToWait;
\r
1885 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1887 #endif /* INCLUDE_vTaskSuspend */
\r
1889 /*-----------------------------------------------------------*/
\r
1891 #if configUSE_TIMERS == 1
\r
1893 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1895 portTickType xTimeToWake;
\r
1897 configASSERT( pxEventList );
\r
1899 /* This function should not be called by application code hence the
\r
1900 'Restricted' in its name. It is not part of the public API. It is
\r
1901 designed for use by kernel code, and has special calling requirements -
\r
1902 it should be called from a critical section. */
\r
1905 /* Place the event list item of the TCB in the appropriate event list.
\r
1906 In this case it is assume that this is the only task that is going to
\r
1907 be waiting on this event list, so the faster vListInsertEnd() function
\r
1908 can be used in place of vListInsert. */
\r
1909 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1911 /* We must remove this task from the ready list before adding it to the
\r
1912 blocked list as the same list item is used for both lists. This
\r
1913 function is called form a critical section. */
\r
1914 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1916 /* The current task must be in a ready list, so there is no need to
\r
1917 check, and the port reset macro can be called directly. */
\r
1918 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1921 /* Calculate the time at which the task should be woken if the event does
\r
1922 not occur. This may overflow but this doesn't matter. */
\r
1923 xTimeToWake = xTickCount + xTicksToWait;
\r
1925 traceTASK_DELAY_UNTIL();
\r
1926 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1929 #endif /* configUSE_TIMERS */
\r
1930 /*-----------------------------------------------------------*/
\r
1932 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1934 tskTCB *pxUnblockedTCB;
\r
1935 portBASE_TYPE xReturn;
\r
1937 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1938 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1940 /* The event list is sorted in priority order, so we can remove the
\r
1941 first in the list, remove the TCB from the delayed list, and add
\r
1942 it to the ready list.
\r
1944 If an event is for a queue that is locked then this function will never
\r
1945 get called - the lock count on the queue will get modified instead. This
\r
1946 means we can always expect exclusive access to the event list here.
\r
1948 This function assumes that a check has already been made to ensure that
\r
1949 pxEventList is not empty. */
\r
1950 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1951 configASSERT( pxUnblockedTCB );
\r
1952 uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1954 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1956 uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1957 prvAddTaskToReadyList( pxUnblockedTCB );
\r
1961 /* We cannot access the delayed or ready lists, so will hold this
\r
1962 task pending until the scheduler is resumed. */
\r
1963 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1966 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1968 /* Return true if the task removed from the event list has
\r
1969 a higher priority than the calling task. This allows
\r
1970 the calling task to know if it should force a context
\r
1976 xReturn = pdFALSE;
\r
1981 /*-----------------------------------------------------------*/
\r
1983 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1985 configASSERT( pxTimeOut );
\r
1986 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1987 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1989 /*-----------------------------------------------------------*/
\r
1991 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1993 portBASE_TYPE xReturn;
\r
1995 configASSERT( pxTimeOut );
\r
1996 configASSERT( pxTicksToWait );
\r
1998 taskENTER_CRITICAL();
\r
2000 /* Minor optimisation. The tick count cannot change in this block. */
\r
2001 const portTickType xConstTickCount = xTickCount;
\r
2003 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2004 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2005 the maximum block time then the task should block indefinitely, and
\r
2006 therefore never time out. */
\r
2007 if( *pxTicksToWait == portMAX_DELAY )
\r
2009 xReturn = pdFALSE;
\r
2011 else /* We are not blocking indefinitely, perform the checks below. */
\r
2014 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xConstTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
2016 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2017 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2018 It must have wrapped all the way around and gone past us again. This
\r
2019 passed since vTaskSetTimeout() was called. */
\r
2022 else if( ( ( portTickType ) ( ( portTickType ) xConstTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
2024 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2025 *pxTicksToWait -= ( ( portTickType ) xConstTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
2026 vTaskSetTimeOutState( pxTimeOut );
\r
2027 xReturn = pdFALSE;
\r
2034 taskEXIT_CRITICAL();
\r
2038 /*-----------------------------------------------------------*/
\r
2040 void vTaskMissedYield( void )
\r
2042 xYieldPending = pdTRUE;
\r
2044 /*-----------------------------------------------------------*/
\r
2046 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2048 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
2050 unsigned portBASE_TYPE uxReturn;
\r
2053 if( xTask != NULL )
\r
2055 pxTCB = ( tskTCB * ) xTask;
\r
2056 uxReturn = pxTCB->uxTaskNumber;
\r
2066 #endif /* configUSE_TRACE_FACILITY */
\r
2067 /*-----------------------------------------------------------*/
\r
2069 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2071 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
2075 if( xTask != NULL )
\r
2077 pxTCB = ( tskTCB * ) xTask;
\r
2078 pxTCB->uxTaskNumber = uxHandle;
\r
2082 #endif /* configUSE_TRACE_FACILITY */
\r
2085 * -----------------------------------------------------------
\r
2087 * ----------------------------------------------------------
\r
2089 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2090 * language extensions. The equivalent prototype for this function is:
\r
2092 * void prvIdleTask( void *pvParameters );
\r
2095 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2097 /* Stop warnings. */
\r
2098 ( void ) pvParameters;
\r
2102 /* See if any tasks have been deleted. */
\r
2103 prvCheckTasksWaitingTermination();
\r
2105 #if ( configUSE_PREEMPTION == 0 )
\r
2107 /* If we are not using preemption we keep forcing a task switch to
\r
2108 see if any other task has become available. If we are using
\r
2109 preemption we don't need to do this as any task becoming available
\r
2110 will automatically get the processor anyway. */
\r
2113 #endif /* configUSE_PREEMPTION */
\r
2115 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2117 /* When using preemption tasks of equal priority will be
\r
2118 timesliced. If a task that is sharing the idle priority is ready
\r
2119 to run then the idle task should yield before the end of the
\r
2122 A critical region is not required here as we are just reading from
\r
2123 the list, and an occasional incorrect value will not matter. If
\r
2124 the ready list at the idle priority contains more than one task
\r
2125 then a task other than the idle task is ready to execute. */
\r
2126 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2131 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2133 #if ( configUSE_IDLE_HOOK == 1 )
\r
2135 extern void vApplicationIdleHook( void );
\r
2137 /* Call the user defined function from within the idle task. This
\r
2138 allows the application designer to add background functionality
\r
2139 without the overhead of a separate task.
\r
2140 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2141 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2142 vApplicationIdleHook();
\r
2144 #endif /* configUSE_IDLE_HOOK */
\r
2146 /* This conditional compilation should use inequality to 0, not equality
\r
2147 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2148 user defined low power mode implementations require
\r
2149 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2150 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2152 portTickType xExpectedIdleTime;
\r
2154 /* It is not desirable to suspend then resume the scheduler on
\r
2155 each iteration of the idle task. Therefore, a preliminary
\r
2156 test of the expected idle time is performed without the
\r
2157 scheduler suspended. The result here is not necessarily
\r
2159 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2161 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2163 vTaskSuspendAll();
\r
2165 /* Now the scheduler is suspended, the expected idle
\r
2166 time can be sampled again, and this time its value can
\r
2168 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2169 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2171 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2173 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2179 #endif /* configUSE_TICKLESS_IDLE */
\r
2182 /*-----------------------------------------------------------*/
\r
2184 #if configUSE_TICKLESS_IDLE != 0
\r
2186 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2188 eSleepModeStatus eReturn = eStandardSleep;
\r
2190 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2192 /* A task was made ready while the scheduler was suspended. */
\r
2193 eReturn = eAbortSleep;
\r
2195 else if( xYieldPending != pdFALSE )
\r
2197 /* A yield was pended while the scheduler was suspended. */
\r
2198 eReturn = eAbortSleep;
\r
2202 #if configUSE_TIMERS == 0
\r
2204 /* The idle task exists in addition to the application tasks. */
\r
2205 const unsigned portBASE_TYPE uxNonApplicationTasks = 1;
\r
2207 /* If timers are not being used and all the tasks are in the
\r
2208 suspended list (which might mean they have an infinite block
\r
2209 time rather than actually being suspended) then it is safe to
\r
2210 turn all clocks off and just wait for external interrupts. */
\r
2211 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2213 eReturn = eNoTasksWaitingTimeout;
\r
2216 #endif /* configUSE_TIMERS */
\r
2221 #endif /* configUSE_TICKLESS_IDLE */
\r
2222 /*-----------------------------------------------------------*/
\r
2224 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2228 /* Store the task name in the TCB. */
\r
2229 for( x = 0; x < configMAX_TASK_NAME_LEN; x++ )
\r
2231 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2233 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2234 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2235 string is not accessible (extremely unlikely). */
\r
2236 if( pcName[ x ] == 0x00 )
\r
2242 /* Ensure the name string is terminated in the case that the string length
\r
2243 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2244 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = ( signed char ) '\0';
\r
2246 /* This is used as an array index so must ensure it's not too large. First
\r
2247 remove the privilege bit if one is present. */
\r
2248 if( uxPriority >= configMAX_PRIORITIES )
\r
2250 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2253 pxTCB->uxPriority = uxPriority;
\r
2254 #if ( configUSE_MUTEXES == 1 )
\r
2256 pxTCB->uxBasePriority = uxPriority;
\r
2258 #endif /* configUSE_MUTEXES */
\r
2260 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2261 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2263 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2264 back to the containing TCB from a generic item in a list. */
\r
2265 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2267 /* Event lists are always in priority order. */
\r
2268 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
2269 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2271 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2273 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2275 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2277 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2279 pxTCB->pxTaskTag = NULL;
\r
2281 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2283 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2285 pxTCB->ulRunTimeCounter = 0UL;
\r
2287 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2289 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2291 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2293 #else /* portUSING_MPU_WRAPPERS */
\r
2295 ( void ) xRegions;
\r
2296 ( void ) usStackDepth;
\r
2298 #endif /* portUSING_MPU_WRAPPERS */
\r
2300 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2302 /* Initialise this task's Newlib reent structure. */
\r
2303 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2305 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2307 /*-----------------------------------------------------------*/
\r
2309 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2311 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2315 if( xTaskToModify == pxCurrentTCB )
\r
2317 xTaskToModify = NULL;
\r
2320 /* If null is passed in here then we are deleting ourselves. */
\r
2321 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2323 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2326 #endif /* portUSING_MPU_WRAPPERS */
\r
2327 /*-----------------------------------------------------------*/
\r
2329 static void prvInitialiseTaskLists( void )
\r
2331 unsigned portBASE_TYPE uxPriority;
\r
2333 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2335 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2338 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2339 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2340 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2342 #if ( INCLUDE_vTaskDelete == 1 )
\r
2344 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2346 #endif /* INCLUDE_vTaskDelete */
\r
2348 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2350 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2352 #endif /* INCLUDE_vTaskSuspend */
\r
2354 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2356 pxDelayedTaskList = &xDelayedTaskList1;
\r
2357 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2359 /*-----------------------------------------------------------*/
\r
2361 static void prvCheckTasksWaitingTermination( void )
\r
2363 #if ( INCLUDE_vTaskDelete == 1 )
\r
2365 portBASE_TYPE xListIsEmpty;
\r
2367 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2368 too often in the idle task. */
\r
2369 while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2371 vTaskSuspendAll();
\r
2372 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2375 if( xListIsEmpty == pdFALSE )
\r
2379 taskENTER_CRITICAL();
\r
2381 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2382 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2383 --uxCurrentNumberOfTasks;
\r
2386 taskEXIT_CRITICAL();
\r
2388 prvDeleteTCB( pxTCB );
\r
2392 #endif /* vTaskDelete */
\r
2394 /*-----------------------------------------------------------*/
\r
2396 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2398 /* The list item will be inserted in wake time order. */
\r
2399 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2401 if( xTimeToWake < xTickCount )
\r
2403 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2404 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2408 /* The wake time has not overflowed, so we can use the current block list. */
\r
2409 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2411 /* If the task entering the blocked state was placed at the head of the
\r
2412 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2414 if( xTimeToWake < xNextTaskUnblockTime )
\r
2416 xNextTaskUnblockTime = xTimeToWake;
\r
2420 /*-----------------------------------------------------------*/
\r
2422 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2426 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2427 the implementation of the port malloc function. */
\r
2428 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2430 if( pxNewTCB != NULL )
\r
2432 /* Allocate space for the stack used by the task being created.
\r
2433 The base of the stack memory stored in the TCB so the task can
\r
2434 be deleted later if required. */
\r
2435 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2437 if( pxNewTCB->pxStack == NULL )
\r
2439 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2440 vPortFree( pxNewTCB );
\r
2445 /* Just to help debugging. */
\r
2446 memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2452 /*-----------------------------------------------------------*/
\r
2454 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2456 static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState )
\r
2458 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2459 unsigned portBASE_TYPE uxTask = 0;
\r
2461 if( listCURRENT_LIST_LENGTH( pxList ) > 0 )
\r
2463 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2465 /* Populate an xTaskStatusType structure within the
\r
2466 pxTaskStatusArray array for each task that is referenced from
\r
2467 pxList. See the definition of xTaskStatusType in task.h for the
\r
2468 meaning of each xTaskStatusType structure member. */
\r
2471 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2473 pxTaskStatusArray[ uxTask ].xHandle = ( xTaskHandle ) pxNextTCB;
\r
2474 pxTaskStatusArray[ uxTask ].pcTaskName = ( const signed char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
2475 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
2476 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
2477 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
2479 #if ( configUSE_MUTEXES == 1 )
\r
2481 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
2485 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
2489 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2491 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
2495 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
2499 #if ( portSTACK_GROWTH > 0 )
\r
2501 ppxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2505 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2511 } while( pxNextTCB != pxFirstTCB );
\r
2517 #endif /* configUSE_TRACE_FACILITY */
\r
2518 /*-----------------------------------------------------------*/
\r
2520 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2522 static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2524 register unsigned short usCount = 0U;
\r
2526 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2528 pucStackByte -= portSTACK_GROWTH;
\r
2532 usCount /= sizeof( portSTACK_TYPE );
\r
2537 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
2538 /*-----------------------------------------------------------*/
\r
2540 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2542 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2545 unsigned char *pcEndOfStack;
\r
2546 unsigned portBASE_TYPE uxReturn;
\r
2548 pxTCB = prvGetTCBFromHandle( xTask );
\r
2550 #if portSTACK_GROWTH < 0
\r
2552 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2556 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2560 uxReturn = ( unsigned portBASE_TYPE ) prvTaskCheckFreeStackSpace( pcEndOfStack );
\r
2565 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
2566 /*-----------------------------------------------------------*/
\r
2568 #if ( INCLUDE_vTaskDelete == 1 )
\r
2570 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2572 /* This call is required specifically for the TriCore port. It must be
\r
2573 above the vPortFree() calls. The call is also used by ports/demos that
\r
2574 want to allocate and clean RAM statically. */
\r
2575 portCLEAN_UP_TCB( pxTCB );
\r
2577 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2578 the task to free any memory allocated at the application level. */
\r
2579 vPortFreeAligned( pxTCB->pxStack );
\r
2580 vPortFree( pxTCB );
\r
2583 #endif /* INCLUDE_vTaskDelete */
\r
2584 /*-----------------------------------------------------------*/
\r
2586 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2588 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2590 xTaskHandle xReturn;
\r
2592 /* A critical section is not required as this is not called from
\r
2593 an interrupt and the current TCB will always be the same for any
\r
2594 individual execution thread. */
\r
2595 xReturn = pxCurrentTCB;
\r
2600 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
2601 /*-----------------------------------------------------------*/
\r
2603 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2605 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2607 portBASE_TYPE xReturn;
\r
2609 if( xSchedulerRunning == pdFALSE )
\r
2611 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2615 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2617 xReturn = taskSCHEDULER_RUNNING;
\r
2621 xReturn = taskSCHEDULER_SUSPENDED;
\r
2628 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
2629 /*-----------------------------------------------------------*/
\r
2631 #if ( configUSE_MUTEXES == 1 )
\r
2633 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2635 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2637 /* If the mutex was given back by an interrupt while the queue was
\r
2638 locked then the mutex holder might now be NULL. */
\r
2639 if( pxMutexHolder != NULL )
\r
2641 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2643 /* Adjust the mutex holder state to account for its new priority. */
\r
2644 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2646 /* If the task being modified is in the ready state it will need to
\r
2647 be moved into a new list. */
\r
2648 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2650 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2652 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2655 /* Inherit the priority before being moved into the new list. */
\r
2656 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2657 prvAddTaskToReadyList( pxTCB );
\r
2661 /* Just inherit the priority. */
\r
2662 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2665 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2670 #endif /* configUSE_MUTEXES */
\r
2671 /*-----------------------------------------------------------*/
\r
2673 #if ( configUSE_MUTEXES == 1 )
\r
2675 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2677 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2679 if( pxMutexHolder != NULL )
\r
2681 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2683 /* We must be the running task to be able to give the mutex back.
\r
2684 Remove ourselves from the ready list we currently appear in. */
\r
2685 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2687 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2690 /* Disinherit the priority before adding the task into the new
\r
2692 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2693 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2694 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2695 prvAddTaskToReadyList( pxTCB );
\r
2700 #endif /* configUSE_MUTEXES */
\r
2701 /*-----------------------------------------------------------*/
\r
2703 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2705 void vTaskEnterCritical( void )
\r
2707 portDISABLE_INTERRUPTS();
\r
2709 if( xSchedulerRunning != pdFALSE )
\r
2711 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2715 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2716 /*-----------------------------------------------------------*/
\r
2718 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2720 void vTaskExitCritical( void )
\r
2722 if( xSchedulerRunning != pdFALSE )
\r
2724 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2726 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2728 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2730 portENABLE_INTERRUPTS();
\r
2736 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2737 /*-----------------------------------------------------------*/
\r
2739 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configINCLUDE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
2741 void vTaskList( signed char *pcWriteBuffer )
\r
2743 xTaskStatusType *pxTaskStatusArray;
\r
2744 volatile unsigned portBASE_TYPE uxArraySize, x;
\r
2750 * This function is provided for convenience only, and is used by many
\r
2751 * of the demo applications. Do not consider it to be part of the
\r
2754 * vTaskList() calls xTaskGetSystemState(), then formats part of the
\r
2755 * xTaskGetSystemState() output into a human readable table that
\r
2756 * displays task names, states and stack usage.
\r
2758 * vTaskList() has a dependency on the sprintf() C library function that
\r
2759 * might bloat the code size, use a lot of stack, and provide different
\r
2760 * results on different platforms. An alternative, tiny, third party,
\r
2761 * and limited functionality implementation of sprintf() is provided in
\r
2762 * many of the FreeRTOS/Demo sub-directories in a file called
\r
2763 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
2764 * snprintf() implementation!).
\r
2766 * It is recommended that production systems call xTaskGetSystemState()
\r
2767 * directly to get access to raw stats data, rather than indirectly
\r
2768 * through a call to vTaskList().
\r
2772 /* Make sure the write buffer does not contain a string. */
\r
2773 *pcWriteBuffer = 0x00;
\r
2775 /* Take a snapshot of the number of tasks in case it changes while this
\r
2776 function is executing. */
\r
2777 uxArraySize = uxCurrentNumberOfTasks;
\r
2779 /* Allocate an array index for each task. */
\r
2780 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
\r
2782 if( pxTaskStatusArray != NULL )
\r
2784 /* Generate the (binary) data. */
\r
2785 uxArraySize = xTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
2787 /* Create a human readable table from the binary data. */
\r
2788 for( x = 0; x < uxArraySize; x++ )
\r
2790 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
2792 case eReady: cStatus = tskREADY_CHAR;
\r
2795 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
2798 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
2801 case eDeleted: cStatus = tskDELETED_CHAR;
\r
2804 default: /* Should not get here, but it is included
\r
2805 to prevent static checking errors. */
\r
2810 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxTaskStatusArray[ x ].pcTaskName, cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
2811 pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
\r
2814 /* Free the array again. */
\r
2815 vPortFree( pxTaskStatusArray );
\r
2819 #endif /* configUSE_TRACE_FACILITY */
\r
2820 /*----------------------------------------------------------*/
\r
2822 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configINCLUDE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
2824 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
2826 xTaskStatusType *pxTaskStatusArray;
\r
2827 volatile unsigned portBASE_TYPE uxArraySize, x;
\r
2828 unsigned long ulTotalTime, ulStatsAsPercentage;
\r
2833 * This function is provided for convenience only, and is used by many
\r
2834 * of the demo applications. Do not consider it to be part of the
\r
2837 * vTaskGetRunTimeStats() calls xTaskGetSystemState(), then formats part
\r
2838 * of the xTaskGetSystemState() output into a human readable table that
\r
2839 * displays the amount of time each task has spent in the Running state
\r
2840 * in both absolute and percentage terms.
\r
2842 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
2843 * function that might bloat the code size, use a lot of stack, and
\r
2844 * provide different results on different platforms. An alternative,
\r
2845 * tiny, third party, and limited functionality implementation of
\r
2846 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
2847 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
2848 * a full snprintf() implementation!).
\r
2850 * It is recommended that production systems call xTaskGetSystemState()
\r
2851 * directly to get access to raw stats data, rather than indirectly
\r
2852 * through a call to vTaskGetRunTimeStats().
\r
2855 /* Make sure the write buffer does not contain a string. */
\r
2856 *pcWriteBuffer = 0x00;
\r
2858 /* Take a snapshot of the number of tasks in case it changes while this
\r
2859 function is executing. */
\r
2860 uxArraySize = uxCurrentNumberOfTasks;
\r
2862 /* Allocate an array index for each task. */
\r
2863 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
\r
2865 if( pxTaskStatusArray != NULL )
\r
2867 /* Generate the (binary) data. */
\r
2868 uxArraySize = xTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
2870 /* For percentage calculations. */
\r
2871 ulTotalTime /= 100UL;
\r
2873 /* Avoid divide by zero errors. */
\r
2874 if( ulTotalTime > 0 )
\r
2876 /* Create a human readable table from the binary data. */
\r
2877 for( x = 0; x < uxArraySize; x++ )
\r
2879 /* What percentage of the total run time has the task used?
\r
2880 This will always be rounded down to the nearest integer.
\r
2881 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
2882 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
2884 if( ulStatsAsPercentage > 0UL )
\r
2886 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2888 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
2892 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2893 printf() library can be used. */
\r
2894 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2900 /* If the percentage is zero here then the task has
\r
2901 consumed less than 1% of the total run time. */
\r
2902 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2904 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
2908 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2909 printf() library can be used. */
\r
2910 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
2915 pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
\r
2919 /* Free the array again. */
\r
2920 vPortFree( pxTaskStatusArray );
\r
2924 #endif /* configGENERATE_RUN_TIME_STATS */
\r
projects / freertos / blob