2 FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to distribute
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28 >>! a combined work that includes FreeRTOS without being obliged to provide
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29 >>! the source code for proprietary components outside of the FreeRTOS
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 /* Standard includes. */
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70 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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71 all the API functions to use the MPU wrappers. That should only be done when
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72 task.h is included from an application file. */
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73 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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75 /* FreeRTOS includes. */
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76 #include "FreeRTOS.h"
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79 #include "StackMacros.h"
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81 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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82 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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83 header files above, but not in this file, in order to generate the correct
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84 privileged Vs unprivileged linkage and placement. */
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85 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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87 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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88 /* At the bottom of this file are two optional functions that can be used
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89 to generate human readable text from the raw data generated by the
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90 uxTaskGetSystemState() function. Note the formatting functions are provided
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91 for convenience only, and are NOT considered part of the kernel. */
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93 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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95 /* Sanity check the configuration. */
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96 #if configUSE_TICKLESS_IDLE != 0
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97 #if INCLUDE_vTaskSuspend != 1
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98 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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99 #endif /* INCLUDE_vTaskSuspend */
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100 #endif /* configUSE_TICKLESS_IDLE */
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103 * Defines the size, in words, of the stack allocated to the idle task.
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105 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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107 #if( configUSE_PREEMPTION == 0 )
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108 /* If the cooperative scheduler is being used then a yield should not be
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109 performed just because a higher priority task has been woken. */
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110 #define taskYIELD_IF_USING_PREEMPTION()
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112 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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116 * Task control block. A task control block (TCB) is allocated for each task,
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117 * and stores task state information, including a pointer to the task's context
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118 * (the task's run time environment, including register values)
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120 typedef struct tskTaskControlBlock
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122 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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124 #if ( portUSING_MPU_WRAPPERS == 1 )
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125 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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128 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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129 xListItem xEventListItem; /*< Used to reference a task from an event list. */
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130 unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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131 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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132 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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134 #if ( portSTACK_GROWTH > 0 )
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135 portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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138 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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139 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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142 #if ( configUSE_TRACE_FACILITY == 1 )
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143 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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144 unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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147 #if ( configUSE_MUTEXES == 1 )
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148 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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151 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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152 pdTASK_HOOK_CODE pxTaskTag;
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155 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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156 unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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159 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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160 /* Allocate a Newlib reent structure that is specific to this task.
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161 Note Newlib support has been included by popular demand, but is not
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162 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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163 responsible for resulting newlib operation. User must be familiar with
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164 newlib and must provide system-wide implementations of the necessary
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165 stubs. Be warned that (at the time of writing) the current newlib design
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166 implements a system-wide malloc() that must be provided with locks. */
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167 struct _reent xNewLib_reent;
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173 * Some kernel aware debuggers require the data the debugger needs access to to
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174 * be global, rather than file scope.
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176 #ifdef portREMOVE_STATIC_QUALIFIER
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180 /*lint -e956 A manual analysis and inspection has been used to determine which
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181 static variables must be declared volatile. */
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183 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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185 /* Lists for ready and blocked tasks. --------------------*/
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186 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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187 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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188 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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189 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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190 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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191 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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193 #if ( INCLUDE_vTaskDelete == 1 )
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195 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
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196 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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200 #if ( INCLUDE_vTaskSuspend == 1 )
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202 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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206 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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208 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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212 /* Other file private variables. --------------------------------*/
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213 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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214 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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215 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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216 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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217 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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218 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxPendedTicks = ( unsigned portBASE_TYPE ) 0U;
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219 PRIVILEGED_DATA static volatile portBASE_TYPE xYieldPending = pdFALSE;
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220 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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221 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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222 PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = portMAX_DELAY;
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224 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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226 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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227 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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233 /* Debugging and trace facilities private variables and macros. ------------*/
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236 * The value used to fill the stack of a task when the task is created. This
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237 * is used purely for checking the high water mark for tasks.
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239 #define tskSTACK_FILL_BYTE ( 0xa5U )
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242 * Macros used by vListTask to indicate which state a task is in.
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244 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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245 #define tskREADY_CHAR ( ( signed char ) 'R' )
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246 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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247 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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249 /*-----------------------------------------------------------*/
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251 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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253 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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254 performed in a generic way that is not optimised to any particular
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255 microcontroller architecture. */
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257 /* uxTopReadyPriority holds the priority of the highest priority ready
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259 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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261 if( ( uxPriority ) > uxTopReadyPriority ) \
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263 uxTopReadyPriority = ( uxPriority ); \
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265 } /* taskRECORD_READY_PRIORITY */
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267 /*-----------------------------------------------------------*/
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269 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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271 /* Find the highest priority queue that contains ready tasks. */ \
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272 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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274 configASSERT( uxTopReadyPriority ); \
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275 --uxTopReadyPriority; \
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278 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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279 the same priority get an equal share of the processor time. */ \
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280 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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281 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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283 /*-----------------------------------------------------------*/
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285 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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286 they are only required when a port optimised method of task selection is
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288 #define taskRESET_READY_PRIORITY( uxPriority )
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289 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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291 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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293 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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294 performed in a way that is tailored to the particular microcontroller
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295 architecture being used. */
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297 /* A port optimised version is provided. Call the port defined macros. */
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298 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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300 /*-----------------------------------------------------------*/
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302 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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304 unsigned portBASE_TYPE uxTopPriority; \
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306 /* Find the highest priority queue that contains ready tasks. */ \
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307 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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308 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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309 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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310 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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312 /*-----------------------------------------------------------*/
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314 /* A port optimised version is provided, call it only if the TCB being reset
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315 is being referenced from a ready list. If it is referenced from a delayed
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316 or suspended list then it won't be in a ready list. */
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317 #define taskRESET_READY_PRIORITY( uxPriority ) \
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319 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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321 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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325 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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327 /*-----------------------------------------------------------*/
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329 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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330 count overflows. */
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331 #define taskSWITCH_DELAYED_LISTS() \
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335 /* The delayed tasks list should be empty when the lists are switched. */ \
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336 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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338 pxTemp = pxDelayedTaskList; \
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339 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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340 pxOverflowDelayedTaskList = pxTemp; \
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341 xNumOfOverflows++; \
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343 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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345 /* The new current delayed list is empty. Set \
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346 xNextTaskUnblockTime to the maximum possible value so it is \
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347 extremely unlikely that the \
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348 if( xTickCount >= xNextTaskUnblockTime ) test will pass until \
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349 there is an item in the delayed list. */ \
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350 xNextTaskUnblockTime = portMAX_DELAY; \
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354 /* The new current delayed list is not empty, get the value of \
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355 the item at the head of the delayed list. This is the time at \
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356 which the task at the head of the delayed list should be removed \
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357 from the Blocked state. */ \
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358 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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359 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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363 /*-----------------------------------------------------------*/
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366 * Place the task represented by pxTCB into the appropriate ready list for
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367 * the task. It is inserted at the end of the list.
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369 #define prvAddTaskToReadyList( pxTCB ) \
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370 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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371 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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372 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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373 /*-----------------------------------------------------------*/
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376 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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377 * where NULL is used to indicate that the handle of the currently executing
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378 * task should be used in place of the parameter. This macro simply checks to
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379 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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381 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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383 /* Callback function prototypes. --------------------------*/
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384 extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
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385 extern void vApplicationTickHook( void );
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387 /* File private functions. --------------------------------*/
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390 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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391 * into the TCB structure.
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393 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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396 * Utility to ready all the lists used by the scheduler. This is called
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397 * automatically upon the creation of the first task.
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399 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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402 * The idle task, which as all tasks is implemented as a never ending loop.
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403 * The idle task is automatically created and added to the ready lists upon
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404 * creation of the first user task.
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406 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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407 * language extensions. The equivalent prototype for this function is:
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409 * void prvIdleTask( void *pvParameters );
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412 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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415 * Utility to free all memory allocated by the scheduler to hold a TCB,
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416 * including the stack pointed to by the TCB.
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418 * This does not free memory allocated by the task itself (i.e. memory
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419 * allocated by calls to pvPortMalloc from within the tasks application code).
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421 #if ( INCLUDE_vTaskDelete == 1 )
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423 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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428 * Used only by the idle task. This checks to see if anything has been placed
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429 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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430 * and its TCB deleted.
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432 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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435 * The currently executing task is entering the Blocked state. Add the task to
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436 * either the current or the overflow delayed task list.
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438 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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441 * Allocates memory from the heap for a TCB and associated stack. Checks the
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442 * allocation was successful.
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444 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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447 * Fills an xTaskStatusType structure with information on each task that is
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448 * referenced from the pxList list (which may be a ready list, a delayed list,
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449 * a suspended list, etc.).
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451 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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452 * NORMAL APPLICATION CODE.
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454 #if ( configUSE_TRACE_FACILITY == 1 )
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456 static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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461 * When a task is created, the stack of the task is filled with a known value.
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462 * This function determines the 'high water mark' of the task stack by
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463 * determining how much of the stack remains at the original preset value.
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465 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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467 static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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472 * Return the amount of time, in ticks, that will pass before the kernel will
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473 * next move a task from the Blocked state to the Running state.
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475 * This conditional compilation should use inequality to 0, not equality to 1.
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476 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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477 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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478 * set to a value other than 1.
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480 #if ( configUSE_TICKLESS_IDLE != 0 )
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482 static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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486 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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488 signed portBASE_TYPE xReturn;
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491 configASSERT( pxTaskCode );
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492 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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494 /* Allocate the memory required by the TCB and stack for the new task,
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495 checking that the allocation was successful. */
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496 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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498 if( pxNewTCB != NULL )
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500 portSTACK_TYPE *pxTopOfStack;
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502 #if( portUSING_MPU_WRAPPERS == 1 )
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503 /* Should the task be created in privileged mode? */
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504 portBASE_TYPE xRunPrivileged;
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505 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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507 xRunPrivileged = pdTRUE;
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511 xRunPrivileged = pdFALSE;
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513 uxPriority &= ~portPRIVILEGE_BIT;
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514 #endif /* portUSING_MPU_WRAPPERS == 1 */
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516 /* Calculate the top of stack address. This depends on whether the
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517 stack grows from high memory to low (as per the 80x86) or vice versa.
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518 portSTACK_GROWTH is used to make the result positive or negative as
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519 required by the port. */
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520 #if( portSTACK_GROWTH < 0 )
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522 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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523 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */
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525 /* Check the alignment of the calculated top of stack is correct. */
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526 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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528 #else /* portSTACK_GROWTH */
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530 pxTopOfStack = pxNewTCB->pxStack;
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532 /* Check the alignment of the stack buffer is correct. */
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533 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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535 /* If we want to use stack checking on architectures that use
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536 a positive stack growth direction then we also need to store the
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537 other extreme of the stack space. */
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538 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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540 #endif /* portSTACK_GROWTH */
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542 /* Setup the newly allocated TCB with the initial state of the task. */
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543 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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545 /* Initialize the TCB stack to look as if the task was already running,
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546 but had been interrupted by the scheduler. The return address is set
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547 to the start of the task function. Once the stack has been initialised
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548 the top of stack variable is updated. */
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549 #if( portUSING_MPU_WRAPPERS == 1 )
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551 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
553 #else /* portUSING_MPU_WRAPPERS */
\r
555 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
557 #endif /* portUSING_MPU_WRAPPERS */
\r
559 if( ( void * ) pxCreatedTask != NULL )
\r
561 /* Pass the TCB out - in an anonymous way. The calling function/
\r
562 task can use this as a handle to delete the task later if
\r
564 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
\r
567 /* Ensure interrupts don't access the task lists while they are being
\r
569 taskENTER_CRITICAL();
\r
571 uxCurrentNumberOfTasks++;
\r
572 if( pxCurrentTCB == NULL )
\r
574 /* There are no other tasks, or all the other tasks are in
\r
575 the suspended state - make this the current task. */
\r
576 pxCurrentTCB = pxNewTCB;
\r
578 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
580 /* This is the first task to be created so do the preliminary
\r
581 initialisation required. We will not recover if this call
\r
582 fails, but we will report the failure. */
\r
583 prvInitialiseTaskLists();
\r
588 /* If the scheduler is not already running, make this task the
\r
589 current task if it is the highest priority task to be created
\r
591 if( xSchedulerRunning == pdFALSE )
\r
593 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
595 pxCurrentTCB = pxNewTCB;
\r
602 #if ( configUSE_TRACE_FACILITY == 1 )
\r
604 /* Add a counter into the TCB for tracing only. */
\r
605 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
607 #endif /* configUSE_TRACE_FACILITY */
\r
608 traceTASK_CREATE( pxNewTCB );
\r
610 prvAddTaskToReadyList( pxNewTCB );
\r
613 portSETUP_TCB( pxNewTCB );
\r
615 taskEXIT_CRITICAL();
\r
619 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
620 traceTASK_CREATE_FAILED();
\r
623 if( xReturn == pdPASS )
\r
625 if( xSchedulerRunning != pdFALSE )
\r
627 /* If the created task is of a higher priority than the current task
\r
628 then it should run now. */
\r
629 if( pxCurrentTCB->uxPriority < uxPriority )
\r
631 taskYIELD_IF_USING_PREEMPTION();
\r
638 /*-----------------------------------------------------------*/
\r
640 #if ( INCLUDE_vTaskDelete == 1 )
\r
642 void vTaskDelete( xTaskHandle xTaskToDelete )
\r
646 taskENTER_CRITICAL();
\r
648 /* If null is passed in here then it is the calling task that is
\r
650 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
652 /* Remove task from the ready list and place in the termination list.
\r
653 This will stop the task from be scheduled. The idle task will check
\r
654 the termination list and free up any memory allocated by the
\r
655 scheduler for the TCB and stack. */
\r
656 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
658 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
661 /* Is the task waiting on an event also? */
\r
662 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
664 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
667 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
669 /* Increment the ucTasksDeleted variable so the idle task knows
\r
670 there is a task that has been deleted and that it should therefore
\r
671 check the xTasksWaitingTermination list. */
\r
674 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
675 can detect that the task lists need re-generating. */
\r
678 traceTASK_DELETE( pxTCB );
\r
680 taskEXIT_CRITICAL();
\r
682 /* Force a reschedule if it is the currently running task that has just
\r
684 if( xSchedulerRunning != pdFALSE )
\r
686 if( pxTCB == pxCurrentTCB )
\r
688 configASSERT( uxSchedulerSuspended == 0 );
\r
690 /* The pre-delete hook is primarily for the Windows simulator,
\r
691 in which Windows specific clean up operations are performed,
\r
692 after which it is not possible to yield away from this task -
\r
693 hence xYieldPending is used to latch that a context switch is
\r
695 portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
\r
696 portYIELD_WITHIN_API();
\r
700 /* Reset the next expected unblock time in case it referred to the task
\r
701 that has just been deleted. */
\r
702 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
703 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
708 #endif /* INCLUDE_vTaskDelete */
\r
709 /*-----------------------------------------------------------*/
\r
711 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
713 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, const portTickType xTimeIncrement )
\r
715 portTickType xTimeToWake;
\r
716 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
718 configASSERT( pxPreviousWakeTime );
\r
719 configASSERT( ( xTimeIncrement > 0U ) );
\r
720 configASSERT( uxSchedulerSuspended == 0 );
\r
724 /* Minor optimisation. The tick count cannot change in this
\r
726 const portTickType xConstTickCount = xTickCount;
\r
728 /* Generate the tick time at which the task wants to wake. */
\r
729 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
731 if( xConstTickCount < *pxPreviousWakeTime )
\r
733 /* The tick count has overflowed since this function was
\r
734 lasted called. In this case the only time we should ever
\r
735 actually delay is if the wake time has also overflowed,
\r
736 and the wake time is greater than the tick time. When this
\r
737 is the case it is as if neither time had overflowed. */
\r
738 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
740 xShouldDelay = pdTRUE;
\r
745 /* The tick time has not overflowed. In this case we will
\r
746 delay if either the wake time has overflowed, and/or the
\r
747 tick time is less than the wake time. */
\r
748 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
750 xShouldDelay = pdTRUE;
\r
754 /* Update the wake time ready for the next call. */
\r
755 *pxPreviousWakeTime = xTimeToWake;
\r
757 if( xShouldDelay != pdFALSE )
\r
759 traceTASK_DELAY_UNTIL();
\r
761 /* We must remove ourselves from the ready list before adding
\r
762 ourselves to the blocked list as the same list item is used for
\r
764 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
766 /* The current task must be in a ready list, so there is
\r
767 no need to check, and the port reset macro can be called
\r
769 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
772 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
775 xAlreadyYielded = xTaskResumeAll();
\r
777 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
778 have put ourselves to sleep. */
\r
779 if( xAlreadyYielded == pdFALSE )
\r
781 portYIELD_WITHIN_API();
\r
785 #endif /* INCLUDE_vTaskDelayUntil */
\r
786 /*-----------------------------------------------------------*/
\r
788 #if ( INCLUDE_vTaskDelay == 1 )
\r
790 void vTaskDelay( const portTickType xTicksToDelay )
\r
792 portTickType xTimeToWake;
\r
793 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
796 /* A delay time of zero just forces a reschedule. */
\r
797 if( xTicksToDelay > ( portTickType ) 0U )
\r
799 configASSERT( uxSchedulerSuspended == 0 );
\r
804 /* A task that is removed from the event list while the
\r
805 scheduler is suspended will not get placed in the ready
\r
806 list or removed from the blocked list until the scheduler
\r
809 This task cannot be in an event list as it is the currently
\r
812 /* Calculate the time to wake - this may overflow but this is
\r
814 xTimeToWake = xTickCount + xTicksToDelay;
\r
816 /* We must remove ourselves from the ready list before adding
\r
817 ourselves to the blocked list as the same list item is used for
\r
819 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
821 /* The current task must be in a ready list, so there is
\r
822 no need to check, and the port reset macro can be called
\r
824 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
826 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
828 xAlreadyYielded = xTaskResumeAll();
\r
831 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
832 have put ourselves to sleep. */
\r
833 if( xAlreadyYielded == pdFALSE )
\r
835 portYIELD_WITHIN_API();
\r
839 #endif /* INCLUDE_vTaskDelay */
\r
840 /*-----------------------------------------------------------*/
\r
842 #if ( INCLUDE_eTaskGetState == 1 )
\r
844 eTaskState eTaskGetState( xTaskHandle xTask )
\r
846 eTaskState eReturn;
\r
847 xList *pxStateList;
\r
848 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
850 configASSERT( pxTCB );
\r
852 if( pxTCB == pxCurrentTCB )
\r
854 /* The task calling this function is querying its own state. */
\r
855 eReturn = eRunning;
\r
859 taskENTER_CRITICAL();
\r
861 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
863 taskEXIT_CRITICAL();
\r
865 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
867 /* The task being queried is referenced from one of the Blocked
\r
869 eReturn = eBlocked;
\r
872 #if ( INCLUDE_vTaskSuspend == 1 )
\r
873 else if( pxStateList == &xSuspendedTaskList )
\r
875 /* The task being queried is referenced from the suspended
\r
876 list. Is it genuinely suspended or is it block
\r
878 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
880 eReturn = eSuspended;
\r
884 eReturn = eBlocked;
\r
889 #if ( INCLUDE_vTaskDelete == 1 )
\r
890 else if( pxStateList == &xTasksWaitingTermination )
\r
892 /* The task being queried is referenced from the deleted
\r
894 eReturn = eDeleted;
\r
900 /* If the task is not in any other state, it must be in the
\r
901 Ready (including pending ready) state. */
\r
909 #endif /* INCLUDE_eTaskGetState */
\r
910 /*-----------------------------------------------------------*/
\r
912 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
914 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
\r
917 unsigned portBASE_TYPE uxReturn;
\r
919 taskENTER_CRITICAL();
\r
921 /* If null is passed in here then we are changing the
\r
922 priority of the calling function. */
\r
923 pxTCB = prvGetTCBFromHandle( xTask );
\r
924 uxReturn = pxTCB->uxPriority;
\r
926 taskEXIT_CRITICAL();
\r
931 #endif /* INCLUDE_uxTaskPriorityGet */
\r
932 /*-----------------------------------------------------------*/
\r
934 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
936 void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
\r
939 unsigned portBASE_TYPE uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
940 portBASE_TYPE xYieldRequired = pdFALSE;
\r
942 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
944 /* Ensure the new priority is valid. */
\r
945 if( uxNewPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
\r
947 uxNewPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
950 taskENTER_CRITICAL();
\r
952 /* If null is passed in here then it is the priority of the calling
\r
953 task that is being changed. */
\r
954 pxTCB = prvGetTCBFromHandle( xTask );
\r
956 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
958 #if ( configUSE_MUTEXES == 1 )
\r
960 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
964 uxCurrentBasePriority = pxTCB->uxPriority;
\r
968 if( uxCurrentBasePriority != uxNewPriority )
\r
970 /* The priority change may have readied a task of higher
\r
971 priority than the calling task. */
\r
972 if( uxNewPriority > uxCurrentBasePriority )
\r
974 if( pxTCB != pxCurrentTCB )
\r
976 /* The priority of a task other than the currently
\r
977 running task is being raised. Is the priority being
\r
978 raised above that of the running task? */
\r
979 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
981 xYieldRequired = pdTRUE;
\r
986 /* The priority of the running task is being raised,
\r
987 but the running task must already be the highest
\r
988 priority task able to run so no yield is required. */
\r
991 else if( pxTCB == pxCurrentTCB )
\r
993 /* Setting the priority of the running task down means
\r
994 there may now be another task of higher priority that
\r
995 is ready to execute. */
\r
996 xYieldRequired = pdTRUE;
\r
1000 /* Setting the priority of any other task down does not
\r
1001 require a yield as the running task must be above the
\r
1002 new priority of the task being modified. */
\r
1005 /* Remember the ready list the task might be referenced from
\r
1006 before its uxPriority member is changed so the
\r
1007 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
1008 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1010 #if ( configUSE_MUTEXES == 1 )
\r
1012 /* Only change the priority being used if the task is not
\r
1013 currently using an inherited priority. */
\r
1014 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1016 pxTCB->uxPriority = uxNewPriority;
\r
1019 /* The base priority gets set whatever. */
\r
1020 pxTCB->uxBasePriority = uxNewPriority;
\r
1024 pxTCB->uxPriority = uxNewPriority;
\r
1028 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1030 /* If the task is in the blocked or suspended list we need do
\r
1031 nothing more than change it's priority variable. However, if
\r
1032 the task is in a ready list it needs to be removed and placed
\r
1033 in the list appropriate to its new priority. */
\r
1034 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1036 /* The task is currently in its ready list - remove before adding
\r
1037 it to it's new ready list. As we are in a critical section we
\r
1038 can do this even if the scheduler is suspended. */
\r
1039 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1041 /* It is known that the task is in its ready list so
\r
1042 there is no need to check again and the port level
\r
1043 reset macro can be called directly. */
\r
1044 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1046 prvAddTaskToReadyList( pxTCB );
\r
1049 if( xYieldRequired == pdTRUE )
\r
1051 taskYIELD_IF_USING_PREEMPTION();
\r
1054 /* Remove compiler warning about unused variables when the port
\r
1055 optimised task selection is not being used. */
\r
1056 ( void ) uxPriorityUsedOnEntry;
\r
1059 taskEXIT_CRITICAL();
\r
1062 #endif /* INCLUDE_vTaskPrioritySet */
\r
1063 /*-----------------------------------------------------------*/
\r
1065 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1067 void vTaskSuspend( xTaskHandle xTaskToSuspend )
\r
1071 taskENTER_CRITICAL();
\r
1073 /* If null is passed in here then it is the running task that is
\r
1074 being suspended. */
\r
1075 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1077 traceTASK_SUSPEND( pxTCB );
\r
1079 /* Remove task from the ready/delayed list and place in the
\r
1080 suspended list. */
\r
1081 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1083 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1086 /* Is the task waiting on an event also? */
\r
1087 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1089 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1092 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1094 taskEXIT_CRITICAL();
\r
1096 if( pxTCB == pxCurrentTCB )
\r
1098 if( xSchedulerRunning != pdFALSE )
\r
1100 /* The current task has just been suspended. */
\r
1101 configASSERT( uxSchedulerSuspended == 0 );
\r
1102 portYIELD_WITHIN_API();
\r
1106 /* The scheduler is not running, but the task that was pointed
\r
1107 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1108 must be adjusted to point to a different task. */
\r
1109 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1111 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1112 NULL so when the next task is created pxCurrentTCB will
\r
1113 be set to point to it no matter what its relative priority
\r
1115 pxCurrentTCB = NULL;
\r
1119 vTaskSwitchContext();
\r
1125 if( xSchedulerRunning != pdFALSE )
\r
1127 /* A task other than the currently running task was suspended, reset
\r
1128 the next expected unblock time in case it referred to the task that
\r
1129 is now in the Suspended state. */
\r
1130 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1131 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1136 #endif /* INCLUDE_vTaskSuspend */
\r
1137 /*-----------------------------------------------------------*/
\r
1139 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1141 signed portBASE_TYPE xTaskIsTaskSuspended( const xTaskHandle xTask )
\r
1143 signed portBASE_TYPE xReturn = pdFALSE;
\r
1144 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1146 /* It does not make sense to check if the calling task is suspended. */
\r
1147 configASSERT( xTask );
\r
1149 /* Is the task we are attempting to resume actually in the
\r
1150 suspended list? */
\r
1151 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1153 /* Has the task already been resumed from within an ISR? */
\r
1154 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1156 /* Is it in the suspended list because it is in the
\r
1157 Suspended state? It is possible to be in the suspended
\r
1158 list because it is blocked on a task with no timeout
\r
1160 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1168 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1170 #endif /* INCLUDE_vTaskSuspend */
\r
1171 /*-----------------------------------------------------------*/
\r
1173 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1175 void vTaskResume( xTaskHandle xTaskToResume )
\r
1177 tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
\r
1179 /* It does not make sense to resume the calling task. */
\r
1180 configASSERT( xTaskToResume );
\r
1182 /* The parameter cannot be NULL as it is impossible to resume the
\r
1183 currently executing task. */
\r
1184 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1186 taskENTER_CRITICAL();
\r
1188 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1190 traceTASK_RESUME( pxTCB );
\r
1192 /* As we are in a critical section we can access the ready
\r
1193 lists even if the scheduler is suspended. */
\r
1194 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1195 prvAddTaskToReadyList( pxTCB );
\r
1197 /* We may have just resumed a higher priority task. */
\r
1198 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1200 /* This yield may not cause the task just resumed to run,
\r
1201 but will leave the lists in the correct state for the
\r
1203 taskYIELD_IF_USING_PREEMPTION();
\r
1207 taskEXIT_CRITICAL();
\r
1211 #endif /* INCLUDE_vTaskSuspend */
\r
1213 /*-----------------------------------------------------------*/
\r
1215 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1217 portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
\r
1219 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1220 tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
\r
1221 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1223 configASSERT( xTaskToResume );
\r
1225 /* RTOS ports that support interrupt nesting have the concept of a
\r
1226 maximum system call (or maximum API call) interrupt priority.
\r
1227 Interrupts that are above the maximum system call priority are keep
\r
1228 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1229 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1230 is defined in FreeRTOSConfig.h then
\r
1231 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1232 failure if a FreeRTOS API function is called from an interrupt that has
\r
1233 been assigned a priority above the configured maximum system call
\r
1234 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1235 from interrupts that have been assigned a priority at or (logically)
\r
1236 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1237 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1238 simple as possible. More information (albeit Cortex-M specific) is
\r
1239 provided on the following link:
\r
1240 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1241 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1243 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1245 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1247 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1249 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1251 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1253 xYieldRequired = pdTRUE;
\r
1256 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1257 prvAddTaskToReadyList( pxTCB );
\r
1261 /* We cannot access the delayed or ready lists, so will hold this
\r
1262 task pending until the scheduler is resumed, at which point a
\r
1263 yield will be performed if necessary. */
\r
1264 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1268 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1270 return xYieldRequired;
\r
1273 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1274 /*-----------------------------------------------------------*/
\r
1276 void vTaskStartScheduler( void )
\r
1278 portBASE_TYPE xReturn;
\r
1280 /* Add the idle task at the lowest priority. */
\r
1281 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1283 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1284 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1285 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1289 /* Create the idle task without storing its handle. */
\r
1290 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1292 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1294 #if ( configUSE_TIMERS == 1 )
\r
1296 if( xReturn == pdPASS )
\r
1298 xReturn = xTimerCreateTimerTask();
\r
1301 #endif /* configUSE_TIMERS */
\r
1303 if( xReturn == pdPASS )
\r
1305 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1306 before or during the call to xPortStartScheduler(). The stacks of
\r
1307 the created tasks contain a status word with interrupts switched on
\r
1308 so interrupts will automatically get re-enabled when the first task
\r
1310 portDISABLE_INTERRUPTS();
\r
1312 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1314 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1315 structure specific to the task that will run first. */
\r
1316 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1318 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1320 xSchedulerRunning = pdTRUE;
\r
1321 xTickCount = ( portTickType ) 0U;
\r
1323 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1324 macro must be defined to configure the timer/counter used to generate
\r
1325 the run time counter time base. */
\r
1326 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1328 /* Setting up the timer tick is hardware specific and thus in the
\r
1329 portable interface. */
\r
1330 if( xPortStartScheduler() != pdFALSE )
\r
1332 /* Should not reach here as if the scheduler is running the
\r
1333 function will not return. */
\r
1337 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1342 /* This line will only be reached if the kernel could not be started,
\r
1343 because there was not enough FreeRTOS heap to create the idle task
\r
1344 or the timer task. */
\r
1345 configASSERT( xReturn );
\r
1348 /*-----------------------------------------------------------*/
\r
1350 void vTaskEndScheduler( void )
\r
1352 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1353 routine so the original ISRs can be restored if necessary. The port
\r
1354 layer must ensure interrupts enable bit is left in the correct state. */
\r
1355 portDISABLE_INTERRUPTS();
\r
1356 xSchedulerRunning = pdFALSE;
\r
1357 vPortEndScheduler();
\r
1359 /*----------------------------------------------------------*/
\r
1361 void vTaskSuspendAll( void )
\r
1363 /* A critical section is not required as the variable is of type
\r
1364 portBASE_TYPE. Please read Richard Barry's reply in the following link to a
\r
1365 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1366 http://goo.gl/wu4acr */
\r
1367 ++uxSchedulerSuspended;
\r
1369 /*----------------------------------------------------------*/
\r
1371 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1373 static portTickType prvGetExpectedIdleTime( void )
\r
1375 portTickType xReturn;
\r
1377 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1381 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1383 /* There are other idle priority tasks in the ready state. If
\r
1384 time slicing is used then the very next tick interrupt must be
\r
1390 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1396 #endif /* configUSE_TICKLESS_IDLE */
\r
1397 /*----------------------------------------------------------*/
\r
1399 signed portBASE_TYPE xTaskResumeAll( void )
\r
1402 portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1404 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1405 previous call to vTaskSuspendAll(). */
\r
1406 configASSERT( uxSchedulerSuspended );
\r
1408 /* It is possible that an ISR caused a task to be removed from an event
\r
1409 list while the scheduler was suspended. If this was the case then the
\r
1410 removed task will have been added to the xPendingReadyList. Once the
\r
1411 scheduler has been resumed it is safe to move all the pending ready
\r
1412 tasks from this list into their appropriate ready list. */
\r
1413 taskENTER_CRITICAL();
\r
1415 --uxSchedulerSuspended;
\r
1417 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1419 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1421 /* Move any readied tasks from the pending list into the
\r
1422 appropriate ready list. */
\r
1423 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1425 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1426 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1427 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1428 prvAddTaskToReadyList( pxTCB );
\r
1430 /* If we have moved a task that has a priority higher than
\r
1431 the current task then we should yield. */
\r
1432 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1434 xYieldPending = pdTRUE;
\r
1438 /* If any ticks occurred while the scheduler was suspended then
\r
1439 they should be processed now. This ensures the tick count does not
\r
1440 slip, and that any delayed tasks are resumed at the correct time. */
\r
1441 if( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1443 while( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1445 if( xTaskIncrementTick() != pdFALSE )
\r
1447 xYieldPending = pdTRUE;
\r
1453 if( xYieldPending == pdTRUE )
\r
1455 #if( configUSE_PREEMPTION != 0 )
\r
1457 xAlreadyYielded = pdTRUE;
\r
1460 taskYIELD_IF_USING_PREEMPTION();
\r
1465 taskEXIT_CRITICAL();
\r
1467 return xAlreadyYielded;
\r
1469 /*-----------------------------------------------------------*/
\r
1471 portTickType xTaskGetTickCount( void )
\r
1473 portTickType xTicks;
\r
1475 /* Critical section required if running on a 16 bit processor. */
\r
1476 taskENTER_CRITICAL();
\r
1478 xTicks = xTickCount;
\r
1480 taskEXIT_CRITICAL();
\r
1484 /*-----------------------------------------------------------*/
\r
1486 portTickType xTaskGetTickCountFromISR( void )
\r
1488 portTickType xReturn;
\r
1489 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1491 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1492 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1493 above the maximum system call priority are kept permanently enabled, even
\r
1494 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1495 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1496 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1497 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1498 assigned a priority above the configured maximum system call priority.
\r
1499 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1500 that have been assigned a priority at or (logically) below the maximum
\r
1501 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1502 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1503 More information (albeit Cortex-M specific) is provided on the following
\r
1504 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1505 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1507 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1508 xReturn = xTickCount;
\r
1509 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1513 /*-----------------------------------------------------------*/
\r
1515 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1517 /* A critical section is not required because the variables are of type
\r
1519 return uxCurrentNumberOfTasks;
\r
1521 /*-----------------------------------------------------------*/
\r
1523 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1525 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1529 /* If null is passed in here then the name of the calling task is being queried. */
\r
1530 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1531 configASSERT( pxTCB );
\r
1532 return &( pxTCB->pcTaskName[ 0 ] );
\r
1535 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1536 /*-----------------------------------------------------------*/
\r
1538 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1540 unsigned portBASE_TYPE uxTaskGetSystemState( xTaskStatusType *pxTaskStatusArray, unsigned portBASE_TYPE uxArraySize, unsigned long *pulTotalRunTime )
\r
1542 unsigned portBASE_TYPE uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1544 vTaskSuspendAll();
\r
1546 /* Is there a space in the array for each task in the system? */
\r
1547 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1549 /* Fill in an xTaskStatusType structure with information on each
\r
1550 task in the Ready state. */
\r
1554 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1556 } while( uxQueue > ( unsigned portBASE_TYPE ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1558 /* Fill in an xTaskStatusType structure with information on each
\r
1559 task in the Blocked state. */
\r
1560 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxDelayedTaskList, eBlocked );
\r
1561 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxOverflowDelayedTaskList, eBlocked );
\r
1563 #if( INCLUDE_vTaskDelete == 1 )
\r
1565 /* Fill in an xTaskStatusType structure with information on
\r
1566 each task that has been deleted but not yet cleaned up. */
\r
1567 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1571 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1573 /* Fill in an xTaskStatusType structure with information on
\r
1574 each task in the Suspended state. */
\r
1575 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1579 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1581 if( pulTotalRunTime != NULL )
\r
1583 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1584 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
1586 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1592 if( pulTotalRunTime != NULL )
\r
1594 *pulTotalRunTime = 0;
\r
1600 ( void ) xTaskResumeAll();
\r
1605 #endif /* configUSE_TRACE_FACILITY */
\r
1606 /*----------------------------------------------------------*/
\r
1608 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1610 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1612 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1613 started, then xIdleTaskHandle will be NULL. */
\r
1614 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1615 return xIdleTaskHandle;
\r
1618 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1619 /*----------------------------------------------------------*/
\r
1621 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1622 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1623 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1625 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1627 void vTaskStepTick( portTickType xTicksToJump )
\r
1629 /* Correct the tick count value after a period during which the tick
\r
1630 was suppressed. Note this does *not* call the tick hook function for
\r
1631 each stepped tick. */
\r
1632 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1633 xTickCount += xTicksToJump;
\r
1634 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
1637 #endif /* configUSE_TICKLESS_IDLE */
\r
1638 /*----------------------------------------------------------*/
\r
1640 portBASE_TYPE xTaskIncrementTick( void )
\r
1643 portTickType xItemValue;
\r
1644 portBASE_TYPE xSwitchRequired = pdFALSE;
\r
1646 /* Called by the portable layer each time a tick interrupt occurs.
\r
1647 Increments the tick then checks to see if the new tick value will cause any
\r
1648 tasks to be unblocked. */
\r
1649 traceTASK_INCREMENT_TICK( xTickCount );
\r
1650 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1652 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1653 delayed lists if it wraps to 0. */
\r
1657 /* Minor optimisation. The tick count cannot change in this
\r
1659 const portTickType xConstTickCount = xTickCount;
\r
1661 if( xConstTickCount == ( portTickType ) 0U )
\r
1663 taskSWITCH_DELAYED_LISTS();
\r
1666 /* See if this tick has made a timeout expire. Tasks are stored in
\r
1667 the queue in the order of their wake time - meaning once one task
\r
1668 has been found whose block time has not expired there is no need to
\r
1669 look any further down the list. */
\r
1670 if( xConstTickCount >= xNextTaskUnblockTime )
\r
1674 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1676 /* The delayed list is empty. Set xNextTaskUnblockTime
\r
1677 to the maximum possible value so it is extremely
\r
1678 unlikely that the
\r
1679 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1680 next time through. */
\r
1681 xNextTaskUnblockTime = portMAX_DELAY;
\r
1686 /* The delayed list is not empty, get the value of the
\r
1687 item at the head of the delayed list. This is the time
\r
1688 at which the task at the head of the delayed list must
\r
1689 be removed from the Blocked state. */
\r
1690 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1691 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1693 if( xConstTickCount < xItemValue )
\r
1695 /* It is not time to unblock this item yet, but the
\r
1696 item value is the time at which the task at the head
\r
1697 of the blocked list must be removed from the Blocked
\r
1698 state - so record the item value in
\r
1699 xNextTaskUnblockTime. */
\r
1700 xNextTaskUnblockTime = xItemValue;
\r
1704 /* It is time to remove the item from the Blocked state. */
\r
1705 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1707 /* Is the task waiting on an event also? If so remove
\r
1708 it from the event list. */
\r
1709 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1711 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1714 /* Place the unblocked task into the appropriate ready
\r
1716 prvAddTaskToReadyList( pxTCB );
\r
1718 /* A task being unblocked cannot cause an immediate
\r
1719 context switch if preemption is turned off. */
\r
1720 #if ( configUSE_PREEMPTION == 1 )
\r
1722 /* Preemption is on, but a context switch should
\r
1723 only be performed if the unblocked task has a
\r
1724 priority that is equal to or higher than the
\r
1725 currently executing task. */
\r
1726 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1728 xSwitchRequired = pdTRUE;
\r
1731 #endif /* configUSE_PREEMPTION */
\r
1737 /* Tasks of equal priority to the currently running task will share
\r
1738 processing time (time slice) if preemption is on, and the application
\r
1739 writer has not explicitly turned time slicing off. */
\r
1740 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
1742 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1744 xSwitchRequired = pdTRUE;
\r
1747 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
1749 #if ( configUSE_TICK_HOOK == 1 )
\r
1751 /* Guard against the tick hook being called when the pended tick
\r
1752 count is being unwound (when the scheduler is being unlocked). */
\r
1753 if( uxPendedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1755 vApplicationTickHook();
\r
1758 #endif /* configUSE_TICK_HOOK */
\r
1764 /* The tick hook gets called at regular intervals, even if the
\r
1765 scheduler is locked. */
\r
1766 #if ( configUSE_TICK_HOOK == 1 )
\r
1768 vApplicationTickHook();
\r
1773 #if ( configUSE_PREEMPTION == 1 )
\r
1775 if( xYieldPending != pdFALSE )
\r
1777 xSwitchRequired = pdTRUE;
\r
1780 #endif /* configUSE_PREEMPTION */
\r
1782 return xSwitchRequired;
\r
1784 /*-----------------------------------------------------------*/
\r
1786 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1788 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1792 /* If xTask is NULL then it is the task hook of the calling task that is
\r
1794 if( xTask == NULL )
\r
1796 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1800 xTCB = ( tskTCB * ) xTask;
\r
1803 /* Save the hook function in the TCB. A critical section is required as
\r
1804 the value can be accessed from an interrupt. */
\r
1805 taskENTER_CRITICAL();
\r
1806 xTCB->pxTaskTag = pxHookFunction;
\r
1807 taskEXIT_CRITICAL();
\r
1810 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1811 /*-----------------------------------------------------------*/
\r
1813 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1815 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1818 pdTASK_HOOK_CODE xReturn;
\r
1820 /* If xTask is NULL then we are setting our own task hook. */
\r
1821 if( xTask == NULL )
\r
1823 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1827 xTCB = ( tskTCB * ) xTask;
\r
1830 /* Save the hook function in the TCB. A critical section is required as
\r
1831 the value can be accessed from an interrupt. */
\r
1832 taskENTER_CRITICAL();
\r
1833 xReturn = xTCB->pxTaskTag;
\r
1834 taskEXIT_CRITICAL();
\r
1839 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1840 /*-----------------------------------------------------------*/
\r
1842 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1844 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1847 portBASE_TYPE xReturn;
\r
1849 /* If xTask is NULL then we are calling our own task hook. */
\r
1850 if( xTask == NULL )
\r
1852 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1856 xTCB = ( tskTCB * ) xTask;
\r
1859 if( xTCB->pxTaskTag != NULL )
\r
1861 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1871 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1872 /*-----------------------------------------------------------*/
\r
1874 void vTaskSwitchContext( void )
\r
1876 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1878 /* The scheduler is currently suspended - do not allow a context
\r
1880 xYieldPending = pdTRUE;
\r
1884 xYieldPending = pdFALSE;
\r
1885 traceTASK_SWITCHED_OUT();
\r
1887 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1889 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1890 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1892 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1895 /* Add the amount of time the task has been running to the
\r
1896 accumulated time so far. The time the task started running was
\r
1897 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
1898 protection here so count values are only valid until the timer
\r
1899 overflows. The guard against negative values is to protect
\r
1900 against suspect run time stat counter implementations - which
\r
1901 are provided by the application, not the kernel. */
\r
1902 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
1904 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
1906 ulTaskSwitchedInTime = ulTotalRunTime;
\r
1908 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1910 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1911 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1913 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
1915 traceTASK_SWITCHED_IN();
\r
1917 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1919 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1920 structure specific to this task. */
\r
1921 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1923 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1926 /*-----------------------------------------------------------*/
\r
1928 void vTaskPlaceOnEventList( xList * const pxEventList, const portTickType xTicksToWait )
\r
1930 portTickType xTimeToWake;
\r
1932 configASSERT( pxEventList );
\r
1934 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1935 SCHEDULER SUSPENDED. */
\r
1937 /* Place the event list item of the TCB in the appropriate event list.
\r
1938 This is placed in the list in priority order so the highest priority task
\r
1939 is the first to be woken by the event. */
\r
1940 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
1942 /* We must remove ourselves from the ready list before adding ourselves
\r
1943 to the blocked list as the same list item is used for both lists. We have
\r
1944 exclusive access to the ready lists as the scheduler is locked. */
\r
1945 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1947 /* The current task must be in a ready list, so there is no need to
\r
1948 check, and the port reset macro can be called directly. */
\r
1949 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1952 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1954 if( xTicksToWait == portMAX_DELAY )
\r
1956 /* Add ourselves to the suspended task list instead of a delayed task
\r
1957 list to ensure we are not woken by a timing event. We will block
\r
1959 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
1963 /* Calculate the time at which the task should be woken if the event does
\r
1964 not occur. This may overflow but this doesn't matter. */
\r
1965 xTimeToWake = xTickCount + xTicksToWait;
\r
1966 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1969 #else /* INCLUDE_vTaskSuspend */
\r
1971 /* Calculate the time at which the task should be woken if the event does
\r
1972 not occur. This may overflow but this doesn't matter. */
\r
1973 xTimeToWake = xTickCount + xTicksToWait;
\r
1974 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1976 #endif /* INCLUDE_vTaskSuspend */
\r
1978 /*-----------------------------------------------------------*/
\r
1980 void vTaskPlaceOnUnorderedEventList( xList * pxEventList, portTickType xItemValue, const portTickType xTicksToWait )
\r
1982 portTickType xTimeToWake;
\r
1984 configASSERT( pxEventList );
\r
1986 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1987 SCHEDULER SUSPENDED. */
\r
1989 /* Store the item value in the event list item. */
\r
1990 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue );
\r
1992 /* Place the event list item of the TCB at the end of the appropriate event
\r
1994 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
1996 /* The task must be removed from the ready list before it is added to the
\r
1997 blocked list. Exclusive access can be assured to the ready list as the
\r
1998 scheduler is locked. */
\r
1999 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
2001 /* The current task must be in a ready list, so there is no need to
\r
2002 check, and the port reset macro can be called directly. */
\r
2003 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2006 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2008 if( xTicksToWait == portMAX_DELAY )
\r
2010 /* Add the task to the suspended task list instead of a delayed task
\r
2011 list to ensure it is not woken by a timing event. It will block
\r
2013 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2017 /* Calculate the time at which the task should be woken if the event does
\r
2018 not occur. This may overflow but this doesn't matter. */
\r
2019 xTimeToWake = xTickCount + xTicksToWait;
\r
2020 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2023 #else /* INCLUDE_vTaskSuspend */
\r
2025 /* Calculate the time at which the task should be woken if the event does
\r
2026 not occur. This may overflow but this doesn't matter. */
\r
2027 xTimeToWake = xTickCount + xTicksToWait;
\r
2028 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2030 #endif /* INCLUDE_vTaskSuspend */
\r
2032 /*-----------------------------------------------------------*/
\r
2034 #if configUSE_TIMERS == 1
\r
2036 void vTaskPlaceOnEventListRestricted( xList * const pxEventList, portTickType xTicksToWait )
\r
2038 portTickType xTimeToWake;
\r
2040 configASSERT( pxEventList );
\r
2042 /* This function should not be called by application code hence the
\r
2043 'Restricted' in its name. It is not part of the public API. It is
\r
2044 designed for use by kernel code, and has special calling requirements -
\r
2045 it should be called from a critical section. */
\r
2048 /* Place the event list item of the TCB in the appropriate event list.
\r
2049 In this case it is assume that this is the only task that is going to
\r
2050 be waiting on this event list, so the faster vListInsertEnd() function
\r
2051 can be used in place of vListInsert. */
\r
2052 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2054 /* We must remove this task from the ready list before adding it to the
\r
2055 blocked list as the same list item is used for both lists. This
\r
2056 function is called form a critical section. */
\r
2057 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
2059 /* The current task must be in a ready list, so there is no need to
\r
2060 check, and the port reset macro can be called directly. */
\r
2061 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2064 /* Calculate the time at which the task should be woken if the event does
\r
2065 not occur. This may overflow but this doesn't matter. */
\r
2066 xTimeToWake = xTickCount + xTicksToWait;
\r
2068 traceTASK_DELAY_UNTIL();
\r
2069 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2072 #endif /* configUSE_TIMERS */
\r
2073 /*-----------------------------------------------------------*/
\r
2075 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
2077 tskTCB *pxUnblockedTCB;
\r
2078 portBASE_TYPE xReturn;
\r
2080 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
2081 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
2083 /* The event list is sorted in priority order, so we can remove the
\r
2084 first in the list, remove the TCB from the delayed list, and add
\r
2085 it to the ready list.
\r
2087 If an event is for a queue that is locked then this function will never
\r
2088 get called - the lock count on the queue will get modified instead. This
\r
2089 means we can always expect exclusive access to the event list here.
\r
2091 This function assumes that a check has already been made to ensure that
\r
2092 pxEventList is not empty. */
\r
2093 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2094 configASSERT( pxUnblockedTCB );
\r
2095 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2097 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2099 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2100 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2104 /* We cannot access the delayed or ready lists, so will hold this
\r
2105 task pending until the scheduler is resumed. */
\r
2106 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2109 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2111 /* Return true if the task removed from the event list has
\r
2112 a higher priority than the calling task. This allows
\r
2113 the calling task to know if it should force a context
\r
2117 /* Mark that a yield is pending in case the user is not using the
\r
2118 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2119 xYieldPending = pdTRUE;
\r
2123 xReturn = pdFALSE;
\r
2128 /*-----------------------------------------------------------*/
\r
2130 signed portBASE_TYPE xTaskRemoveFromUnorderedEventList( xListItem * pxEventListItem, portTickType xItemValue )
\r
2132 tskTCB *pxUnblockedTCB;
\r
2133 portBASE_TYPE xReturn;
\r
2135 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
2136 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
2138 /* Store the new item value in the event list. */
\r
2139 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue );
\r
2141 /* Remove the TCB from the delayed list, and add it to the ready list. */
\r
2143 pxUnblockedTCB = ( tskTCB * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2144 configASSERT( pxUnblockedTCB );
\r
2145 ( void ) uxListRemove( pxEventListItem );
\r
2147 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2149 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2150 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2154 /* Cannot access the delayed or ready lists, so will hold this task
\r
2155 pending until the scheduler is resumed. */
\r
2156 vListInsertEnd( &( xPendingReadyList ), pxEventListItem );
\r
2159 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2161 /* Return true if the task removed from the event list has
\r
2162 a higher priority than the calling task. This allows
\r
2163 the calling task to know if it should force a context
\r
2167 /* Mark that a yield is pending in case the user is not using the
\r
2168 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2169 xYieldPending = pdTRUE;
\r
2173 xReturn = pdFALSE;
\r
2178 /*-----------------------------------------------------------*/
\r
2180 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
2182 configASSERT( pxTimeOut );
\r
2183 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2184 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2186 /*-----------------------------------------------------------*/
\r
2188 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
2190 portBASE_TYPE xReturn;
\r
2192 configASSERT( pxTimeOut );
\r
2193 configASSERT( pxTicksToWait );
\r
2195 taskENTER_CRITICAL();
\r
2197 /* Minor optimisation. The tick count cannot change in this block. */
\r
2198 const portTickType xConstTickCount = xTickCount;
\r
2200 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2201 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2202 the maximum block time then the task should block indefinitely, and
\r
2203 therefore never time out. */
\r
2204 if( *pxTicksToWait == portMAX_DELAY )
\r
2206 xReturn = pdFALSE;
\r
2208 else /* We are not blocking indefinitely, perform the checks below. */
\r
2211 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2213 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2214 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2215 It must have wrapped all the way around and gone past us again. This
\r
2216 passed since vTaskSetTimeout() was called. */
\r
2219 else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
2221 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2222 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2223 vTaskSetTimeOutState( pxTimeOut );
\r
2224 xReturn = pdFALSE;
\r
2231 taskEXIT_CRITICAL();
\r
2235 /*-----------------------------------------------------------*/
\r
2237 void vTaskMissedYield( void )
\r
2239 xYieldPending = pdTRUE;
\r
2241 /*-----------------------------------------------------------*/
\r
2243 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2245 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
2247 unsigned portBASE_TYPE uxReturn;
\r
2250 if( xTask != NULL )
\r
2252 pxTCB = ( tskTCB * ) xTask;
\r
2253 uxReturn = pxTCB->uxTaskNumber;
\r
2263 #endif /* configUSE_TRACE_FACILITY */
\r
2264 /*-----------------------------------------------------------*/
\r
2266 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2268 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
2272 if( xTask != NULL )
\r
2274 pxTCB = ( tskTCB * ) xTask;
\r
2275 pxTCB->uxTaskNumber = uxHandle;
\r
2279 #endif /* configUSE_TRACE_FACILITY */
\r
2282 * -----------------------------------------------------------
\r
2284 * ----------------------------------------------------------
\r
2286 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2287 * language extensions. The equivalent prototype for this function is:
\r
2289 * void prvIdleTask( void *pvParameters );
\r
2292 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2294 /* Stop warnings. */
\r
2295 ( void ) pvParameters;
\r
2299 /* See if any tasks have been deleted. */
\r
2300 prvCheckTasksWaitingTermination();
\r
2302 #if ( configUSE_PREEMPTION == 0 )
\r
2304 /* If we are not using preemption we keep forcing a task switch to
\r
2305 see if any other task has become available. If we are using
\r
2306 preemption we don't need to do this as any task becoming available
\r
2307 will automatically get the processor anyway. */
\r
2310 #endif /* configUSE_PREEMPTION */
\r
2312 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2314 /* When using preemption tasks of equal priority will be
\r
2315 timesliced. If a task that is sharing the idle priority is ready
\r
2316 to run then the idle task should yield before the end of the
\r
2319 A critical region is not required here as we are just reading from
\r
2320 the list, and an occasional incorrect value will not matter. If
\r
2321 the ready list at the idle priority contains more than one task
\r
2322 then a task other than the idle task is ready to execute. */
\r
2323 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2328 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2330 #if ( configUSE_IDLE_HOOK == 1 )
\r
2332 extern void vApplicationIdleHook( void );
\r
2334 /* Call the user defined function from within the idle task. This
\r
2335 allows the application designer to add background functionality
\r
2336 without the overhead of a separate task.
\r
2337 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2338 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2339 vApplicationIdleHook();
\r
2341 #endif /* configUSE_IDLE_HOOK */
\r
2343 /* This conditional compilation should use inequality to 0, not equality
\r
2344 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2345 user defined low power mode implementations require
\r
2346 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2347 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2349 portTickType xExpectedIdleTime;
\r
2351 /* It is not desirable to suspend then resume the scheduler on
\r
2352 each iteration of the idle task. Therefore, a preliminary
\r
2353 test of the expected idle time is performed without the
\r
2354 scheduler suspended. The result here is not necessarily
\r
2356 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2358 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2360 vTaskSuspendAll();
\r
2362 /* Now the scheduler is suspended, the expected idle
\r
2363 time can be sampled again, and this time its value can
\r
2365 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2366 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2368 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2370 traceLOW_POWER_IDLE_BEGIN();
\r
2371 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2372 traceLOW_POWER_IDLE_END();
\r
2375 ( void ) xTaskResumeAll();
\r
2378 #endif /* configUSE_TICKLESS_IDLE */
\r
2381 /*-----------------------------------------------------------*/
\r
2383 #if configUSE_TICKLESS_IDLE != 0
\r
2385 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2387 eSleepModeStatus eReturn = eStandardSleep;
\r
2389 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2391 /* A task was made ready while the scheduler was suspended. */
\r
2392 eReturn = eAbortSleep;
\r
2394 else if( xYieldPending != pdFALSE )
\r
2396 /* A yield was pended while the scheduler was suspended. */
\r
2397 eReturn = eAbortSleep;
\r
2401 #if configUSE_TIMERS == 0
\r
2403 /* The idle task exists in addition to the application tasks. */
\r
2404 const unsigned portBASE_TYPE uxNonApplicationTasks = 1;
\r
2406 /* If timers are not being used and all the tasks are in the
\r
2407 suspended list (which might mean they have an infinite block
\r
2408 time rather than actually being suspended) then it is safe to
\r
2409 turn all clocks off and just wait for external interrupts. */
\r
2410 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2412 eReturn = eNoTasksWaitingTimeout;
\r
2415 #endif /* configUSE_TIMERS */
\r
2420 #endif /* configUSE_TICKLESS_IDLE */
\r
2421 /*-----------------------------------------------------------*/
\r
2423 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2425 unsigned portBASE_TYPE x;
\r
2427 /* Store the task name in the TCB. */
\r
2428 for( x = ( unsigned portBASE_TYPE ) 0; x < ( unsigned portBASE_TYPE ) configMAX_TASK_NAME_LEN; x++ )
\r
2430 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2432 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2433 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2434 string is not accessible (extremely unlikely). */
\r
2435 if( pcName[ x ] == 0x00 )
\r
2441 /* Ensure the name string is terminated in the case that the string length
\r
2442 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2443 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = ( signed char ) '\0';
\r
2445 /* This is used as an array index so must ensure it's not too large. First
\r
2446 remove the privilege bit if one is present. */
\r
2447 if( uxPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
\r
2449 uxPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2452 pxTCB->uxPriority = uxPriority;
\r
2453 #if ( configUSE_MUTEXES == 1 )
\r
2455 pxTCB->uxBasePriority = uxPriority;
\r
2457 #endif /* configUSE_MUTEXES */
\r
2459 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2460 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2462 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2463 back to the containing TCB from a generic item in a list. */
\r
2464 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2466 /* Event lists are always in priority order. */
\r
2467 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2468 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2470 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2472 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2474 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2476 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2478 pxTCB->pxTaskTag = NULL;
\r
2480 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2482 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2484 pxTCB->ulRunTimeCounter = 0UL;
\r
2486 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2488 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2490 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2492 #else /* portUSING_MPU_WRAPPERS */
\r
2494 ( void ) xRegions;
\r
2495 ( void ) usStackDepth;
\r
2497 #endif /* portUSING_MPU_WRAPPERS */
\r
2499 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2501 /* Initialise this task's Newlib reent structure. */
\r
2502 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2504 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2506 /*-----------------------------------------------------------*/
\r
2508 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2510 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2514 /* If null is passed in here then we are deleting ourselves. */
\r
2515 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2517 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2520 #endif /* portUSING_MPU_WRAPPERS */
\r
2521 /*-----------------------------------------------------------*/
\r
2523 static void prvInitialiseTaskLists( void )
\r
2525 unsigned portBASE_TYPE uxPriority;
\r
2527 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < ( unsigned portBASE_TYPE ) configMAX_PRIORITIES; uxPriority++ )
\r
2529 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
2532 vListInitialise( &xDelayedTaskList1 );
\r
2533 vListInitialise( &xDelayedTaskList2 );
\r
2534 vListInitialise( &xPendingReadyList );
\r
2536 #if ( INCLUDE_vTaskDelete == 1 )
\r
2538 vListInitialise( &xTasksWaitingTermination );
\r
2540 #endif /* INCLUDE_vTaskDelete */
\r
2542 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2544 vListInitialise( &xSuspendedTaskList );
\r
2546 #endif /* INCLUDE_vTaskSuspend */
\r
2548 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2550 pxDelayedTaskList = &xDelayedTaskList1;
\r
2551 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2553 /*-----------------------------------------------------------*/
\r
2555 static void prvCheckTasksWaitingTermination( void )
\r
2557 #if ( INCLUDE_vTaskDelete == 1 )
\r
2559 portBASE_TYPE xListIsEmpty;
\r
2561 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2562 too often in the idle task. */
\r
2563 while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2565 vTaskSuspendAll();
\r
2566 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2567 ( void ) xTaskResumeAll();
\r
2569 if( xListIsEmpty == pdFALSE )
\r
2573 taskENTER_CRITICAL();
\r
2575 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
2576 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2577 --uxCurrentNumberOfTasks;
\r
2580 taskEXIT_CRITICAL();
\r
2582 prvDeleteTCB( pxTCB );
\r
2586 #endif /* vTaskDelete */
\r
2588 /*-----------------------------------------------------------*/
\r
2590 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2592 /* The list item will be inserted in wake time order. */
\r
2593 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2595 if( xTimeToWake < xTickCount )
\r
2597 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2598 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2602 /* The wake time has not overflowed, so the current block list is used. */
\r
2603 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2605 /* If the task entering the blocked state was placed at the head of the
\r
2606 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2608 if( xTimeToWake < xNextTaskUnblockTime )
\r
2610 xNextTaskUnblockTime = xTimeToWake;
\r
2614 /*-----------------------------------------------------------*/
\r
2616 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2620 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2621 the implementation of the port malloc function. */
\r
2622 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2624 if( pxNewTCB != NULL )
\r
2626 /* Allocate space for the stack used by the task being created.
\r
2627 The base of the stack memory stored in the TCB so the task can
\r
2628 be deleted later if required. */
\r
2629 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2631 if( pxNewTCB->pxStack == NULL )
\r
2633 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2634 vPortFree( pxNewTCB );
\r
2639 /* Avoid dependency on memset() if it is not required. */
\r
2640 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2642 /* Just to help debugging. */
\r
2643 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2645 #endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
\r
2651 /*-----------------------------------------------------------*/
\r
2653 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2655 static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState )
\r
2657 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2658 unsigned portBASE_TYPE uxTask = 0;
\r
2660 if( listCURRENT_LIST_LENGTH( pxList ) > ( unsigned portBASE_TYPE ) 0 )
\r
2662 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2664 /* Populate an xTaskStatusType structure within the
\r
2665 pxTaskStatusArray array for each task that is referenced from
\r
2666 pxList. See the definition of xTaskStatusType in task.h for the
\r
2667 meaning of each xTaskStatusType structure member. */
\r
2670 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2672 pxTaskStatusArray[ uxTask ].xHandle = ( xTaskHandle ) pxNextTCB;
\r
2673 pxTaskStatusArray[ uxTask ].pcTaskName = ( const signed char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
2674 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
2675 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
2676 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
2678 #if ( configUSE_MUTEXES == 1 )
\r
2680 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
2684 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
2688 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2690 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
2694 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
2698 #if ( portSTACK_GROWTH > 0 )
\r
2700 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2704 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2710 } while( pxNextTCB != pxFirstTCB );
\r
2716 #endif /* configUSE_TRACE_FACILITY */
\r
2717 /*-----------------------------------------------------------*/
\r
2719 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2721 static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2723 unsigned long ulCount = 0U;
\r
2725 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2727 pucStackByte -= portSTACK_GROWTH;
\r
2731 ulCount /= ( unsigned long ) sizeof( portSTACK_TYPE );
\r
2733 return ( unsigned short ) ulCount;
\r
2736 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
2737 /*-----------------------------------------------------------*/
\r
2739 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2741 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2744 unsigned char *pcEndOfStack;
\r
2745 unsigned portBASE_TYPE uxReturn;
\r
2747 pxTCB = prvGetTCBFromHandle( xTask );
\r
2749 #if portSTACK_GROWTH < 0
\r
2751 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2755 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2759 uxReturn = ( unsigned portBASE_TYPE ) prvTaskCheckFreeStackSpace( pcEndOfStack );
\r
2764 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
2765 /*-----------------------------------------------------------*/
\r
2767 #if ( INCLUDE_vTaskDelete == 1 )
\r
2769 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2771 /* This call is required specifically for the TriCore port. It must be
\r
2772 above the vPortFree() calls. The call is also used by ports/demos that
\r
2773 want to allocate and clean RAM statically. */
\r
2774 portCLEAN_UP_TCB( pxTCB );
\r
2776 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2777 the task to free any memory allocated at the application level. */
\r
2778 vPortFreeAligned( pxTCB->pxStack );
\r
2779 vPortFree( pxTCB );
\r
2782 #endif /* INCLUDE_vTaskDelete */
\r
2783 /*-----------------------------------------------------------*/
\r
2785 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2787 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2789 xTaskHandle xReturn;
\r
2791 /* A critical section is not required as this is not called from
\r
2792 an interrupt and the current TCB will always be the same for any
\r
2793 individual execution thread. */
\r
2794 xReturn = pxCurrentTCB;
\r
2799 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
2800 /*-----------------------------------------------------------*/
\r
2802 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2804 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2806 portBASE_TYPE xReturn;
\r
2808 if( xSchedulerRunning == pdFALSE )
\r
2810 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2814 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2816 xReturn = taskSCHEDULER_RUNNING;
\r
2820 xReturn = taskSCHEDULER_SUSPENDED;
\r
2827 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
2828 /*-----------------------------------------------------------*/
\r
2830 #if ( configUSE_MUTEXES == 1 )
\r
2832 void vTaskPriorityInherit( xTaskHandle const pxMutexHolder )
\r
2834 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2836 /* If the mutex was given back by an interrupt while the queue was
\r
2837 locked then the mutex holder might now be NULL. */
\r
2838 if( pxMutexHolder != NULL )
\r
2840 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2842 /* Adjust the mutex holder state to account for its new priority. */
\r
2843 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2845 /* If the task being modified is in the ready state it will need to
\r
2846 be moved into a new list. */
\r
2847 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2849 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
2851 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2854 /* Inherit the priority before being moved into the new list. */
\r
2855 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2856 prvAddTaskToReadyList( pxTCB );
\r
2860 /* Just inherit the priority. */
\r
2861 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2864 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2869 #endif /* configUSE_MUTEXES */
\r
2870 /*-----------------------------------------------------------*/
\r
2872 #if ( configUSE_MUTEXES == 1 )
\r
2874 void vTaskPriorityDisinherit( xTaskHandle const pxMutexHolder )
\r
2876 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2878 if( pxMutexHolder != NULL )
\r
2880 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2882 /* We must be the running task to be able to give the mutex back.
\r
2883 Remove ourselves from the ready list we currently appear in. */
\r
2884 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
2886 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2889 /* Disinherit the priority before adding the task into the new
\r
2891 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2892 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2893 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2894 prvAddTaskToReadyList( pxTCB );
\r
2899 #endif /* configUSE_MUTEXES */
\r
2900 /*-----------------------------------------------------------*/
\r
2902 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2904 void vTaskEnterCritical( void )
\r
2906 portDISABLE_INTERRUPTS();
\r
2908 if( xSchedulerRunning != pdFALSE )
\r
2910 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2914 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2915 /*-----------------------------------------------------------*/
\r
2917 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2919 void vTaskExitCritical( void )
\r
2921 if( xSchedulerRunning != pdFALSE )
\r
2923 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2925 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2927 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2929 portENABLE_INTERRUPTS();
\r
2935 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2936 /*-----------------------------------------------------------*/
\r
2938 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
2940 void vTaskList( signed char *pcWriteBuffer )
\r
2942 xTaskStatusType *pxTaskStatusArray;
\r
2943 volatile unsigned portBASE_TYPE uxArraySize, x;
\r
2944 signed char cStatus;
\r
2949 * This function is provided for convenience only, and is used by many
\r
2950 * of the demo applications. Do not consider it to be part of the
\r
2953 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
2954 * uxTaskGetSystemState() output into a human readable table that
\r
2955 * displays task names, states and stack usage.
\r
2957 * vTaskList() has a dependency on the sprintf() C library function that
\r
2958 * might bloat the code size, use a lot of stack, and provide different
\r
2959 * results on different platforms. An alternative, tiny, third party,
\r
2960 * and limited functionality implementation of sprintf() is provided in
\r
2961 * many of the FreeRTOS/Demo sub-directories in a file called
\r
2962 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
2963 * snprintf() implementation!).
\r
2965 * It is recommended that production systems call uxTaskGetSystemState()
\r
2966 * directly to get access to raw stats data, rather than indirectly
\r
2967 * through a call to vTaskList().
\r
2971 /* Make sure the write buffer does not contain a string. */
\r
2972 *pcWriteBuffer = 0x00;
\r
2974 /* Take a snapshot of the number of tasks in case it changes while this
\r
2975 function is executing. */
\r
2976 uxArraySize = uxCurrentNumberOfTasks;
\r
2978 /* Allocate an array index for each task. */
\r
2979 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
\r
2981 if( pxTaskStatusArray != NULL )
\r
2983 /* Generate the (binary) data. */
\r
2984 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
2986 /* Create a human readable table from the binary data. */
\r
2987 for( x = 0; x < uxArraySize; x++ )
\r
2989 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
2991 case eReady: cStatus = tskREADY_CHAR;
\r
2994 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
2997 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
3000 case eDeleted: cStatus = tskDELETED_CHAR;
\r
3003 default: /* Should not get here, but it is included
\r
3004 to prevent static checking errors. */
\r
3009 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxTaskStatusArray[ x ].pcTaskName, ( char ) cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
3010 pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
\r
3013 /* Free the array again. */
\r
3014 vPortFree( pxTaskStatusArray );
\r
3018 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */
\r
3019 /*----------------------------------------------------------*/
\r
3021 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
3023 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
3025 xTaskStatusType *pxTaskStatusArray;
\r
3026 volatile unsigned portBASE_TYPE uxArraySize, x;
\r
3027 unsigned long ulTotalTime, ulStatsAsPercentage;
\r
3032 * This function is provided for convenience only, and is used by many
\r
3033 * of the demo applications. Do not consider it to be part of the
\r
3036 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
3037 * of the uxTaskGetSystemState() output into a human readable table that
\r
3038 * displays the amount of time each task has spent in the Running state
\r
3039 * in both absolute and percentage terms.
\r
3041 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
3042 * function that might bloat the code size, use a lot of stack, and
\r
3043 * provide different results on different platforms. An alternative,
\r
3044 * tiny, third party, and limited functionality implementation of
\r
3045 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
3046 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
3047 * a full snprintf() implementation!).
\r
3049 * It is recommended that production systems call uxTaskGetSystemState()
\r
3050 * directly to get access to raw stats data, rather than indirectly
\r
3051 * through a call to vTaskGetRunTimeStats().
\r
3054 /* Make sure the write buffer does not contain a string. */
\r
3055 *pcWriteBuffer = 0x00;
\r
3057 /* Take a snapshot of the number of tasks in case it changes while this
\r
3058 function is executing. */
\r
3059 uxArraySize = uxCurrentNumberOfTasks;
\r
3061 /* Allocate an array index for each task. */
\r
3062 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
\r
3064 if( pxTaskStatusArray != NULL )
\r
3066 /* Generate the (binary) data. */
\r
3067 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
3069 /* For percentage calculations. */
\r
3070 ulTotalTime /= 100UL;
\r
3072 /* Avoid divide by zero errors. */
\r
3073 if( ulTotalTime > 0 )
\r
3075 /* Create a human readable table from the binary data. */
\r
3076 for( x = 0; x < uxArraySize; x++ )
\r
3078 /* What percentage of the total run time has the task used?
\r
3079 This will always be rounded down to the nearest integer.
\r
3080 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
3081 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
3083 if( ulStatsAsPercentage > 0UL )
\r
3085 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3087 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
3091 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3092 printf() library can be used. */
\r
3093 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
3099 /* If the percentage is zero here then the task has
\r
3100 consumed less than 1% of the total run time. */
\r
3101 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3103 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3107 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3108 printf() library can be used. */
\r
3109 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3114 pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
\r
3118 /* Free the array again. */
\r
3119 vPortFree( pxTaskStatusArray );
\r
3123 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */
\r
3124 /*-----------------------------------------------------------*/
\r
3126 portTickType uxTaskResetEventItemValue( void )
\r
3128 portTickType uxReturn;
\r
3130 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
3132 /* Reset the event list item to its normal value - so it can be used with
\r
3133 queues and semaphores. */
\r
3134 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3138 /*-----------------------------------------------------------*/
\r
projects / freertos / blob