2 FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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32 >>>NOTE<<< The modification to the GPL is included to allow you to
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33 distribute a combined work that includes FreeRTOS without being obliged to
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34 provide the source code for proprietary components outside of the FreeRTOS
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35 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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36 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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37 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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38 more details. You should have received a copy of the GNU General Public
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39 License and the FreeRTOS license exception along with FreeRTOS; if not it
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40 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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41 by writing to Richard Barry, contact details for whom are available on the
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46 ***************************************************************************
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48 * Having a problem? Start by reading the FAQ "My application does *
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49 * not run, what could be wrong?" *
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51 * http://www.FreeRTOS.org/FAQHelp.html *
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53 ***************************************************************************
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56 http://www.FreeRTOS.org - Documentation, training, latest versions, license
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57 and contact details.
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59 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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60 including FreeRTOS+Trace - an indispensable productivity tool.
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62 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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63 the code with commercial support, indemnification, and middleware, under
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64 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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65 provide a safety engineered and independently SIL3 certified version under
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66 the SafeRTOS brand: http://www.SafeRTOS.com.
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69 /* Standard includes. */
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74 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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75 all the API functions to use the MPU wrappers. That should only be done when
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76 task.h is included from an application file. */
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77 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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79 /* FreeRTOS includes. */
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80 #include "FreeRTOS.h"
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83 #include "StackMacros.h"
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85 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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88 * Defines the size, in words, of the stack allocated to the idle task.
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90 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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93 * Task control block. A task control block (TCB) is allocated for each task,
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94 * and stores task state information, including a pointer to the task's context
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95 * (the task's run time environment, including register values)
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97 typedef struct tskTaskControlBlock
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99 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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101 #if ( portUSING_MPU_WRAPPERS == 1 )
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102 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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105 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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106 xListItem xEventListItem; /*< Used to reference a task from an event list. */
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107 unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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108 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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109 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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111 #if ( portSTACK_GROWTH > 0 )
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112 portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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115 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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116 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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119 #if ( configUSE_TRACE_FACILITY == 1 )
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120 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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121 unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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124 #if ( configUSE_MUTEXES == 1 )
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125 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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128 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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129 pdTASK_HOOK_CODE pxTaskTag;
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132 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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133 unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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140 * Some kernel aware debuggers require the data the debugger needs access to to
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141 * be global, rather than file scope.
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143 #ifdef portREMOVE_STATIC_QUALIFIER
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148 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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150 /* Lists for ready and blocked tasks. --------------------*/
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151 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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152 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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153 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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154 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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155 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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156 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */
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158 #if ( INCLUDE_vTaskDelete == 1 )
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160 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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161 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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165 #if ( INCLUDE_vTaskSuspend == 1 )
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167 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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171 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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173 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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177 /* File private variables. --------------------------------*/
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178 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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179 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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180 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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181 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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182 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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183 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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184 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0U;
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185 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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186 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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187 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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188 PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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190 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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192 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
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193 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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194 PRIVILEGED_DATA static unsigned long ulTotalRunTime; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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195 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTimeDiv100 ) PRIVILEGED_FUNCTION;
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199 /* Debugging and trace facilities private variables and macros. ------------*/
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202 * The value used to fill the stack of a task when the task is created. This
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203 * is used purely for checking the high water mark for tasks.
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205 #define tskSTACK_FILL_BYTE ( 0xa5U )
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208 * Macros used by vListTask to indicate which state a task is in.
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210 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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211 #define tskREADY_CHAR ( ( signed char ) 'R' )
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212 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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213 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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215 /*-----------------------------------------------------------*/
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217 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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219 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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220 performed in a generic way that is not optimised to any particular
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221 microcontroller architecture. */
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223 /* uxTopReadyPriority holds the priority of the highest priority ready
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225 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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227 if( ( uxPriority ) > uxTopReadyPriority ) \
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229 uxTopReadyPriority = ( uxPriority ); \
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231 } /* taskRECORD_READY_PRIORITY */
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233 /*-----------------------------------------------------------*/
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235 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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237 /* Find the highest priority queue that contains ready tasks. */ \
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238 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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240 configASSERT( uxTopReadyPriority ); \
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241 --uxTopReadyPriority; \
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244 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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245 the same priority get an equal share of the processor time. */ \
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246 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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247 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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249 /*-----------------------------------------------------------*/
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251 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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252 they are only required when a port optimised method of task selection is
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254 #define taskRESET_READY_PRIORITY( uxPriority )
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255 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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257 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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259 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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260 performed in a way that is tailored to the particular microcontroller
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261 architecture being used. */
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263 /* A port optimised version is provided. Call the port defined macros. */
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264 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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266 /*-----------------------------------------------------------*/
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268 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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270 unsigned portBASE_TYPE uxTopPriority; \
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272 /* Find the highest priority queue that contains ready tasks. */ \
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273 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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274 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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275 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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276 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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278 /*-----------------------------------------------------------*/
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280 /* A port optimised version is provided, call it only if the TCB being reset
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281 is being referenced from a ready list. If it is referenced from a delayed
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282 or suspended list then it won't be in a ready list. */
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283 #define taskRESET_READY_PRIORITY( uxPriority ) \
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285 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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287 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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291 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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294 * Place the task represented by pxTCB into the appropriate ready queue for
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295 * the task. It is inserted at the end of the list. One quirk of this is
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296 * that if the task being inserted is at the same priority as the currently
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297 * executing task, then it will only be rescheduled after the currently
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298 * executing task has been rescheduled.
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300 #define prvAddTaskToReadyQueue( pxTCB ) \
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301 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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302 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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303 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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304 /*-----------------------------------------------------------*/
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307 * Macro that looks at the list of tasks that are currently delayed to see if
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308 * any require waking.
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310 * Tasks are stored in the queue in the order of their wake time - meaning
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311 * once one tasks has been found whose timer has not expired we need not look
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312 * any further down the list.
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314 #define prvCheckDelayedTasks() \
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316 portTickType xItemValue; \
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318 /* Is the tick count greater than or equal to the wake time of the first \
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319 task referenced from the delayed tasks list? */ \
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320 if( xTickCount >= xNextTaskUnblockTime ) \
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324 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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326 /* The delayed list is empty. Set xNextTaskUnblockTime to the \
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327 maximum possible value so it is extremely unlikely that the \
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328 if( xTickCount >= xNextTaskUnblockTime ) test will pass next \
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330 xNextTaskUnblockTime = portMAX_DELAY; \
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335 /* The delayed list is not empty, get the value of the item at \
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336 the head of the delayed list. This is the time at which the \
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337 task at the head of the delayed list should be removed from \
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338 the Blocked state. */ \
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339 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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340 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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342 if( xTickCount < xItemValue ) \
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344 /* It is not time to unblock this item yet, but the item \
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345 value is the time at which the task at the head of the \
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346 blocked list should be removed from the Blocked state - \
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347 so record the item value in xNextTaskUnblockTime. */ \
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348 xNextTaskUnblockTime = xItemValue; \
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352 /* It is time to remove the item from the Blocked state. */ \
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353 uxListRemove( &( pxTCB->xGenericListItem ) ); \
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355 /* Is the task waiting on an event also? */ \
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356 if( pxTCB->xEventListItem.pvContainer != NULL ) \
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358 uxListRemove( &( pxTCB->xEventListItem ) ); \
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360 prvAddTaskToReadyQueue( pxTCB ); \
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365 /*-----------------------------------------------------------*/
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368 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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369 * where NULL is used to indicate that the handle of the currently executing
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370 * task should be used in place of the parameter. This macro simply checks to
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371 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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373 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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375 /* Callback function prototypes. --------------------------*/
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376 extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
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377 extern void vApplicationTickHook( void );
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379 /* File private functions. --------------------------------*/
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382 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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383 * into the TCB structure.
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385 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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388 * Utility to ready all the lists used by the scheduler. This is called
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389 * automatically upon the creation of the first task.
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391 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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394 * The idle task, which as all tasks is implemented as a never ending loop.
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395 * The idle task is automatically created and added to the ready lists upon
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396 * creation of the first user task.
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398 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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399 * language extensions. The equivalent prototype for this function is:
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401 * void prvIdleTask( void *pvParameters );
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404 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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407 * Utility to free all memory allocated by the scheduler to hold a TCB,
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408 * including the stack pointed to by the TCB.
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410 * This does not free memory allocated by the task itself (i.e. memory
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411 * allocated by calls to pvPortMalloc from within the tasks application code).
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413 #if ( INCLUDE_vTaskDelete == 1 )
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415 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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420 * Used only by the idle task. This checks to see if anything has been placed
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421 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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422 * and its TCB deleted.
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424 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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427 * The currently executing task is entering the Blocked state. Add the task to
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428 * either the current or the overflow delayed task list.
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430 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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433 * Allocates memory from the heap for a TCB and associated stack. Checks the
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434 * allocation was successful.
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436 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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439 * Called from vTaskList. vListTasks details all the tasks currently under
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440 * control of the scheduler. The tasks may be in one of a number of lists.
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441 * prvListTaskWithinSingleList accepts a list and details the tasks from
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442 * within just that list.
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444 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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445 * NORMAL APPLICATION CODE.
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447 #if ( configUSE_TRACE_FACILITY == 1 )
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449 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
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454 * When a task is created, the stack of the task is filled with a known value.
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455 * This function determines the 'high water mark' of the task stack by
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456 * determining how much of the stack remains at the original preset value.
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458 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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460 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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465 * Return the amount of time, in ticks, that will pass before the kernel will
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466 * next move a task from the Blocked state to the Running state.
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468 * This conditional compilation should use inequality to 0, not equality to 1.
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469 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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470 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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471 * set to a value other than 1.
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473 #if ( configUSE_TICKLESS_IDLE != 0 )
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475 static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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481 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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483 signed portBASE_TYPE xReturn;
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486 configASSERT( pxTaskCode );
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487 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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489 /* Allocate the memory required by the TCB and stack for the new task,
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490 checking that the allocation was successful. */
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491 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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493 if( pxNewTCB != NULL )
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495 portSTACK_TYPE *pxTopOfStack;
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497 #if( portUSING_MPU_WRAPPERS == 1 )
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498 /* Should the task be created in privileged mode? */
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499 portBASE_TYPE xRunPrivileged;
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500 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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502 xRunPrivileged = pdTRUE;
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506 xRunPrivileged = pdFALSE;
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508 uxPriority &= ~portPRIVILEGE_BIT;
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509 #endif /* portUSING_MPU_WRAPPERS == 1 */
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511 /* Calculate the top of stack address. This depends on whether the
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512 stack grows from high memory to low (as per the 80x86) or visa versa.
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513 portSTACK_GROWTH is used to make the result positive or negative as
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514 required by the port. */
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515 #if( portSTACK_GROWTH < 0 )
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517 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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518 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
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520 /* Check the alignment of the calculated top of stack is correct. */
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521 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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523 #else /* portSTACK_GROWTH */
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525 pxTopOfStack = pxNewTCB->pxStack;
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527 /* Check the alignment of the stack buffer is correct. */
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528 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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530 /* If we want to use stack checking on architectures that use
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531 a positive stack growth direction then we also need to store the
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532 other extreme of the stack space. */
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533 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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535 #endif /* portSTACK_GROWTH */
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537 /* Setup the newly allocated TCB with the initial state of the task. */
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538 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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540 /* Initialize the TCB stack to look as if the task was already running,
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541 but had been interrupted by the scheduler. The return address is set
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542 to the start of the task function. Once the stack has been initialised
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543 the top of stack variable is updated. */
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544 #if( portUSING_MPU_WRAPPERS == 1 )
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546 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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548 #else /* portUSING_MPU_WRAPPERS */
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550 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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552 #endif /* portUSING_MPU_WRAPPERS */
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554 /* Check the alignment of the initialised stack. */
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555 portALIGNMENT_ASSERT_pxCurrentTCB( ( ( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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557 if( ( void * ) pxCreatedTask != NULL )
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559 /* Pass the TCB out - in an anonymous way. The calling function/
\r
560 task can use this as a handle to delete the task later if
\r
562 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
\r
565 /* We are going to manipulate the task queues to add this task to a
\r
566 ready list, so must make sure no interrupts occur. */
\r
567 taskENTER_CRITICAL();
\r
569 uxCurrentNumberOfTasks++;
\r
570 if( pxCurrentTCB == NULL )
\r
572 /* There are no other tasks, or all the other tasks are in
\r
573 the suspended state - make this the current task. */
\r
574 pxCurrentTCB = pxNewTCB;
\r
576 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
578 /* This is the first task to be created so do the preliminary
\r
579 initialisation required. We will not recover if this call
\r
580 fails, but we will report the failure. */
\r
581 prvInitialiseTaskLists();
\r
586 /* If the scheduler is not already running, make this task the
\r
587 current task if it is the highest priority task to be created
\r
589 if( xSchedulerRunning == pdFALSE )
\r
591 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
593 pxCurrentTCB = pxNewTCB;
\r
598 /* Remember the top priority to make context switching faster. Use
\r
599 the priority in pxNewTCB as this has been capped to a valid value. */
\r
600 if( pxNewTCB->uxPriority > uxTopUsedPriority )
\r
602 uxTopUsedPriority = pxNewTCB->uxPriority;
\r
605 #if ( configUSE_TRACE_FACILITY == 1 )
\r
607 /* Add a counter into the TCB for tracing only. */
\r
608 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
610 #endif /* configUSE_TRACE_FACILITY */
\r
612 traceTASK_CREATE( pxNewTCB );
\r
614 prvAddTaskToReadyQueue( pxNewTCB );
\r
617 portSETUP_TCB( pxNewTCB );
\r
619 taskEXIT_CRITICAL();
\r
623 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
624 traceTASK_CREATE_FAILED();
\r
627 if( xReturn == pdPASS )
\r
629 if( xSchedulerRunning != pdFALSE )
\r
631 /* If the created task is of a higher priority than the current task
\r
632 then it should run now. */
\r
633 if( pxCurrentTCB->uxPriority < uxPriority )
\r
635 portYIELD_WITHIN_API();
\r
642 /*-----------------------------------------------------------*/
\r
644 #if ( INCLUDE_vTaskDelete == 1 )
\r
646 void vTaskDelete( xTaskHandle xTaskToDelete )
\r
650 taskENTER_CRITICAL();
\r
652 /* Ensure a yield is performed if the current task is being
\r
654 if( xTaskToDelete == pxCurrentTCB )
\r
656 xTaskToDelete = NULL;
\r
659 /* If null is passed in here then we are deleting ourselves. */
\r
660 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
662 /* Remove task from the ready list and place in the termination list.
\r
663 This will stop the task from be scheduled. The idle task will check
\r
664 the termination list and free up any memory allocated by the
\r
665 scheduler for the TCB and stack. */
\r
666 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
668 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
671 /* Is the task waiting on an event also? */
\r
672 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
674 uxListRemove( &( pxTCB->xEventListItem ) );
\r
677 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
679 /* Increment the ucTasksDeleted variable so the idle task knows
\r
680 there is a task that has been deleted and that it should therefore
\r
681 check the xTasksWaitingTermination list. */
\r
684 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
685 can detect that the task lists need re-generating. */
\r
688 traceTASK_DELETE( pxTCB );
\r
690 taskEXIT_CRITICAL();
\r
692 /* Force a reschedule if we have just deleted the current task. */
\r
693 if( xSchedulerRunning != pdFALSE )
\r
695 if( ( void * ) xTaskToDelete == NULL )
\r
697 portYIELD_WITHIN_API();
\r
702 #endif /* INCLUDE_vTaskDelete */
\r
703 /*-----------------------------------------------------------*/
\r
705 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
707 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
709 portTickType xTimeToWake;
\r
710 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
712 configASSERT( pxPreviousWakeTime );
\r
713 configASSERT( ( xTimeIncrement > 0U ) );
\r
717 /* Generate the tick time at which the task wants to wake. */
\r
718 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
720 if( xTickCount < *pxPreviousWakeTime )
\r
722 /* The tick count has overflowed since this function was
\r
723 lasted called. In this case the only time we should ever
\r
724 actually delay is if the wake time has also overflowed,
\r
725 and the wake time is greater than the tick time. When this
\r
726 is the case it is as if neither time had overflowed. */
\r
727 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
729 xShouldDelay = pdTRUE;
\r
734 /* The tick time has not overflowed. In this case we will
\r
735 delay if either the wake time has overflowed, and/or the
\r
736 tick time is less than the wake time. */
\r
737 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
739 xShouldDelay = pdTRUE;
\r
743 /* Update the wake time ready for the next call. */
\r
744 *pxPreviousWakeTime = xTimeToWake;
\r
746 if( xShouldDelay != pdFALSE )
\r
748 traceTASK_DELAY_UNTIL();
\r
750 /* We must remove ourselves from the ready list before adding
\r
751 ourselves to the blocked list as the same list item is used for
\r
753 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
755 /* The current task must be in a ready list, so there is
\r
756 no need to check, and the port reset macro can be called
\r
758 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
761 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
764 xAlreadyYielded = xTaskResumeAll();
\r
766 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
767 have put ourselves to sleep. */
\r
768 if( xAlreadyYielded == pdFALSE )
\r
770 portYIELD_WITHIN_API();
\r
774 #endif /* INCLUDE_vTaskDelayUntil */
\r
775 /*-----------------------------------------------------------*/
\r
777 #if ( INCLUDE_vTaskDelay == 1 )
\r
779 void vTaskDelay( portTickType xTicksToDelay )
\r
781 portTickType xTimeToWake;
\r
782 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
784 /* A delay time of zero just forces a reschedule. */
\r
785 if( xTicksToDelay > ( portTickType ) 0U )
\r
791 /* A task that is removed from the event list while the
\r
792 scheduler is suspended will not get placed in the ready
\r
793 list or removed from the blocked list until the scheduler
\r
796 This task cannot be in an event list as it is the currently
\r
799 /* Calculate the time to wake - this may overflow but this is
\r
801 xTimeToWake = xTickCount + xTicksToDelay;
\r
803 /* We must remove ourselves from the ready list before adding
\r
804 ourselves to the blocked list as the same list item is used for
\r
806 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
808 /* The current task must be in a ready list, so there is
\r
809 no need to check, and the port reset macro can be called
\r
811 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
813 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
815 xAlreadyYielded = xTaskResumeAll();
\r
818 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
819 have put ourselves to sleep. */
\r
820 if( xAlreadyYielded == pdFALSE )
\r
822 portYIELD_WITHIN_API();
\r
826 #endif /* INCLUDE_vTaskDelay */
\r
827 /*-----------------------------------------------------------*/
\r
829 #if ( INCLUDE_eTaskGetState == 1 )
\r
831 eTaskState eTaskGetState( xTaskHandle xTask )
\r
833 eTaskState eReturn;
\r
834 xList *pxStateList;
\r
837 pxTCB = ( tskTCB * ) xTask;
\r
839 if( pxTCB == pxCurrentTCB )
\r
841 /* The task calling this function is querying its own state. */
\r
842 eReturn = eRunning;
\r
846 taskENTER_CRITICAL();
\r
848 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
850 taskEXIT_CRITICAL();
\r
852 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
854 /* The task being queried is referenced from one of the Blocked
\r
856 eReturn = eBlocked;
\r
859 #if ( INCLUDE_vTaskSuspend == 1 )
\r
860 else if( pxStateList == &xSuspendedTaskList )
\r
862 /* The task being queried is referenced from the suspended
\r
864 eReturn = eSuspended;
\r
868 #if ( INCLUDE_vTaskDelete == 1 )
\r
869 else if( pxStateList == &xTasksWaitingTermination )
\r
871 /* The task being queried is referenced from the deleted
\r
873 eReturn = eDeleted;
\r
879 /* If the task is not in any other state, it must be in the
\r
880 Ready (including pending ready) state. */
\r
888 #endif /* INCLUDE_eTaskGetState */
\r
889 /*-----------------------------------------------------------*/
\r
891 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
893 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
\r
896 unsigned portBASE_TYPE uxReturn;
\r
898 taskENTER_CRITICAL();
\r
900 /* If null is passed in here then we are changing the
\r
901 priority of the calling function. */
\r
902 pxTCB = prvGetTCBFromHandle( xTask );
\r
903 uxReturn = pxTCB->uxPriority;
\r
905 taskEXIT_CRITICAL();
\r
910 #endif /* INCLUDE_uxTaskPriorityGet */
\r
911 /*-----------------------------------------------------------*/
\r
913 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
915 void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
\r
918 unsigned portBASE_TYPE uxCurrentPriority, uxPriorityUsedOnEntry;
\r
919 portBASE_TYPE xYieldRequired = pdFALSE;
\r
921 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
923 /* Ensure the new priority is valid. */
\r
924 if( uxNewPriority >= configMAX_PRIORITIES )
\r
926 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
929 taskENTER_CRITICAL();
\r
931 if( xTask == pxCurrentTCB )
\r
936 /* If null is passed in here then we are changing the
\r
937 priority of the calling function. */
\r
938 pxTCB = prvGetTCBFromHandle( xTask );
\r
940 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
942 #if ( configUSE_MUTEXES == 1 )
\r
944 uxCurrentPriority = pxTCB->uxBasePriority;
\r
948 uxCurrentPriority = pxTCB->uxPriority;
\r
952 if( uxCurrentPriority != uxNewPriority )
\r
954 /* The priority change may have readied a task of higher
\r
955 priority than the calling task. */
\r
956 if( uxNewPriority > uxCurrentPriority )
\r
958 if( xTask != NULL )
\r
960 /* The priority of another task is being raised. If we
\r
961 were raising the priority of the currently running task
\r
962 there would be no need to switch as it must have already
\r
963 been the highest priority task. */
\r
964 xYieldRequired = pdTRUE;
\r
967 else if( xTask == NULL )
\r
969 /* Setting our own priority down means there may now be another
\r
970 task of higher priority that is ready to execute. */
\r
971 xYieldRequired = pdTRUE;
\r
974 /* Remember the ready list the task might be referenced from
\r
975 before its uxPriority member is changed so the
\r
976 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
977 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION != 0 )
\r
979 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
981 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
\r
983 #if ( configUSE_MUTEXES == 1 )
\r
985 /* Only change the priority being used if the task is not
\r
986 currently using an inherited priority. */
\r
987 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
989 pxTCB->uxPriority = uxNewPriority;
\r
992 /* The base priority gets set whatever. */
\r
993 pxTCB->uxBasePriority = uxNewPriority;
\r
997 pxTCB->uxPriority = uxNewPriority;
\r
1001 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
1003 /* If the task is in the blocked or suspended list we need do
\r
1004 nothing more than change it's priority variable. However, if
\r
1005 the task is in a ready list it needs to be removed and placed
\r
1006 in the queue appropriate to its new priority. */
\r
1007 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
1009 /* The task is currently in its ready list - remove before adding
\r
1010 it to it's new ready list. As we are in a critical section we
\r
1011 can do this even if the scheduler is suspended. */
\r
1012 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1014 taskRESET_READY_PRIORITY( uxPriorityUsedOnEntry );
\r
1016 prvAddTaskToReadyQueue( pxTCB );
\r
1019 if( xYieldRequired == pdTRUE )
\r
1021 portYIELD_WITHIN_API();
\r
1025 taskEXIT_CRITICAL();
\r
1027 /* Remove compiler warning about unused parameter when the port
\r
1028 optimised task selection is not being used. */
\r
1029 ( void ) uxPriorityUsedOnEntry;
\r
1032 #endif /* INCLUDE_vTaskPrioritySet */
\r
1033 /*-----------------------------------------------------------*/
\r
1035 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1037 void vTaskSuspend( xTaskHandle xTaskToSuspend )
\r
1041 taskENTER_CRITICAL();
\r
1043 /* Ensure a yield is performed if the current task is being
\r
1045 if( xTaskToSuspend == pxCurrentTCB )
\r
1047 xTaskToSuspend = NULL;
\r
1050 /* If null is passed in here then we are suspending ourselves. */
\r
1051 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1053 traceTASK_SUSPEND( pxTCB );
\r
1055 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
1056 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1058 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1061 /* Is the task waiting on an event also? */
\r
1062 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
1064 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1067 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1069 taskEXIT_CRITICAL();
\r
1071 if( ( void * ) xTaskToSuspend == NULL )
\r
1073 if( xSchedulerRunning != pdFALSE )
\r
1075 /* We have just suspended the current task. */
\r
1076 portYIELD_WITHIN_API();
\r
1080 /* The scheduler is not running, but the task that was pointed
\r
1081 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1082 must be adjusted to point to a different task. */
\r
1083 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1085 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1086 NULL so when the next task is created pxCurrentTCB will
\r
1087 be set to point to it no matter what its relative priority
\r
1089 pxCurrentTCB = NULL;
\r
1093 vTaskSwitchContext();
\r
1099 #endif /* INCLUDE_vTaskSuspend */
\r
1100 /*-----------------------------------------------------------*/
\r
1102 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1104 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
1106 portBASE_TYPE xReturn = pdFALSE;
\r
1107 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1109 /* It does not make sense to check if the calling task is suspended. */
\r
1110 configASSERT( xTask );
\r
1112 /* Is the task we are attempting to resume actually in the
\r
1113 suspended list? */
\r
1114 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1116 /* Has the task already been resumed from within an ISR? */
\r
1117 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
1119 /* Is it in the suspended list because it is in the
\r
1120 Suspended state? It is possible to be in the suspended
\r
1121 list because it is blocked on a task with no timeout
\r
1123 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
1133 #endif /* INCLUDE_vTaskSuspend */
\r
1134 /*-----------------------------------------------------------*/
\r
1136 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1138 void vTaskResume( xTaskHandle xTaskToResume )
\r
1142 /* It does not make sense to resume the calling task. */
\r
1143 configASSERT( xTaskToResume );
\r
1145 /* Remove the task from whichever list it is currently in, and place
\r
1146 it in the ready list. */
\r
1147 pxTCB = ( tskTCB * ) xTaskToResume;
\r
1149 /* The parameter cannot be NULL as it is impossible to resume the
\r
1150 currently executing task. */
\r
1151 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1153 taskENTER_CRITICAL();
\r
1155 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1157 traceTASK_RESUME( pxTCB );
\r
1159 /* As we are in a critical section we can access the ready
\r
1160 lists even if the scheduler is suspended. */
\r
1161 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1162 prvAddTaskToReadyQueue( pxTCB );
\r
1164 /* We may have just resumed a higher priority task. */
\r
1165 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1167 /* This yield may not cause the task just resumed to run, but
\r
1168 will leave the lists in the correct state for the next yield. */
\r
1169 portYIELD_WITHIN_API();
\r
1173 taskEXIT_CRITICAL();
\r
1177 #endif /* INCLUDE_vTaskSuspend */
\r
1179 /*-----------------------------------------------------------*/
\r
1181 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1183 portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
\r
1185 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1187 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1189 configASSERT( xTaskToResume );
\r
1191 pxTCB = ( tskTCB * ) xTaskToResume;
\r
1193 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1195 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1197 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1199 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1201 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1202 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1203 prvAddTaskToReadyQueue( pxTCB );
\r
1207 /* We cannot access the delayed or ready lists, so will hold this
\r
1208 task pending until the scheduler is resumed, at which point a
\r
1209 yield will be performed if necessary. */
\r
1210 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1214 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1216 return xYieldRequired;
\r
1219 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1220 /*-----------------------------------------------------------*/
\r
1222 void vTaskStartScheduler( void )
\r
1224 portBASE_TYPE xReturn;
\r
1226 /* Add the idle task at the lowest priority. */
\r
1227 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1229 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1230 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1231 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );
\r
1235 /* Create the idle task without storing its handle. */
\r
1236 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
\r
1238 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1240 #if ( configUSE_TIMERS == 1 )
\r
1242 if( xReturn == pdPASS )
\r
1244 xReturn = xTimerCreateTimerTask();
\r
1247 #endif /* configUSE_TIMERS */
\r
1249 if( xReturn == pdPASS )
\r
1251 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1252 before or during the call to xPortStartScheduler(). The stacks of
\r
1253 the created tasks contain a status word with interrupts switched on
\r
1254 so interrupts will automatically get re-enabled when the first task
\r
1257 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1258 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1259 portDISABLE_INTERRUPTS();
\r
1261 xSchedulerRunning = pdTRUE;
\r
1262 xTickCount = ( portTickType ) 0U;
\r
1264 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1265 macro must be defined to configure the timer/counter used to generate
\r
1266 the run time counter time base. */
\r
1267 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1269 /* Setting up the timer tick is hardware specific and thus in the
\r
1270 portable interface. */
\r
1271 if( xPortStartScheduler() != pdFALSE )
\r
1273 /* Should not reach here as if the scheduler is running the
\r
1274 function will not return. */
\r
1278 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1283 /* This line will only be reached if the kernel could not be started,
\r
1284 because there was not enough FreeRTOS heap to create the idle task
\r
1285 or the timer task. */
\r
1286 configASSERT( xReturn );
\r
1289 /*-----------------------------------------------------------*/
\r
1291 void vTaskEndScheduler( void )
\r
1293 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1294 routine so the original ISRs can be restored if necessary. The port
\r
1295 layer must ensure interrupts enable bit is left in the correct state. */
\r
1296 portDISABLE_INTERRUPTS();
\r
1297 xSchedulerRunning = pdFALSE;
\r
1298 vPortEndScheduler();
\r
1300 /*----------------------------------------------------------*/
\r
1302 void vTaskSuspendAll( void )
\r
1304 /* A critical section is not required as the variable is of type
\r
1306 ++uxSchedulerSuspended;
\r
1308 /*----------------------------------------------------------*/
\r
1310 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1312 static portTickType prvGetExpectedIdleTime( void )
\r
1314 portTickType xReturn;
\r
1316 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1320 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1322 /* There are other idle priority tasks in the ready state. If
\r
1323 time slicing is used then the very next tick interrupt must be
\r
1329 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1335 #endif /* configUSE_TICKLESS_IDLE */
\r
1336 /*----------------------------------------------------------*/
\r
1338 signed portBASE_TYPE xTaskResumeAll( void )
\r
1340 register tskTCB *pxTCB;
\r
1341 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1343 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1344 previous call to vTaskSuspendAll(). */
\r
1345 configASSERT( uxSchedulerSuspended );
\r
1347 /* It is possible that an ISR caused a task to be removed from an event
\r
1348 list while the scheduler was suspended. If this was the case then the
\r
1349 removed task will have been added to the xPendingReadyList. Once the
\r
1350 scheduler has been resumed it is safe to move all the pending ready
\r
1351 tasks from this list into their appropriate ready list. */
\r
1352 taskENTER_CRITICAL();
\r
1354 --uxSchedulerSuspended;
\r
1356 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1358 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1360 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1362 /* Move any readied tasks from the pending list into the
\r
1363 appropriate ready list. */
\r
1364 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1366 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1367 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1368 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1369 prvAddTaskToReadyQueue( pxTCB );
\r
1371 /* If we have moved a task that has a priority higher than
\r
1372 the current task then we should yield. */
\r
1373 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1375 xYieldRequired = pdTRUE;
\r
1379 /* If any ticks occurred while the scheduler was suspended then
\r
1380 they should be processed now. This ensures the tick count does not
\r
1381 slip, and that any delayed tasks are resumed at the correct time. */
\r
1382 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1384 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1386 vTaskIncrementTick();
\r
1390 /* As we have processed some ticks it is appropriate to yield
\r
1391 to ensure the highest priority task that is ready to run is
\r
1392 the task actually running. */
\r
1393 #if configUSE_PREEMPTION == 1
\r
1395 xYieldRequired = pdTRUE;
\r
1400 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1402 xAlreadyYielded = pdTRUE;
\r
1403 xMissedYield = pdFALSE;
\r
1404 portYIELD_WITHIN_API();
\r
1409 taskEXIT_CRITICAL();
\r
1411 return xAlreadyYielded;
\r
1413 /*-----------------------------------------------------------*/
\r
1415 portTickType xTaskGetTickCount( void )
\r
1417 portTickType xTicks;
\r
1419 /* Critical section required if running on a 16 bit processor. */
\r
1420 taskENTER_CRITICAL();
\r
1422 xTicks = xTickCount;
\r
1424 taskEXIT_CRITICAL();
\r
1428 /*-----------------------------------------------------------*/
\r
1430 portTickType xTaskGetTickCountFromISR( void )
\r
1432 portTickType xReturn;
\r
1433 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1435 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1436 xReturn = xTickCount;
\r
1437 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1441 /*-----------------------------------------------------------*/
\r
1443 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1445 /* A critical section is not required because the variables are of type
\r
1447 return uxCurrentNumberOfTasks;
\r
1449 /*-----------------------------------------------------------*/
\r
1451 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1453 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1457 /* If null is passed in here then the name of the calling task is being queried. */
\r
1458 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1459 configASSERT( pxTCB );
\r
1460 return &( pxTCB->pcTaskName[ 0 ] );
\r
1463 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1464 /*-----------------------------------------------------------*/
\r
1466 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1468 void vTaskList( signed char *pcWriteBuffer )
\r
1470 unsigned portBASE_TYPE uxQueue;
\r
1472 /* This is a VERY costly function that should be used for debug only.
\r
1473 It leaves interrupts disabled for a LONG time. */
\r
1475 vTaskSuspendAll();
\r
1477 /* Run through all the lists that could potentially contain a TCB and
\r
1478 report the task name, state and stack high water mark. */
\r
1480 *pcWriteBuffer = ( signed char ) 0x00;
\r
1481 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1483 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1489 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1491 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1493 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1495 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1497 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1500 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1502 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1505 #if( INCLUDE_vTaskDelete == 1 )
\r
1507 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1509 prvListTaskWithinSingleList( pcWriteBuffer, &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1514 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1516 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1518 prvListTaskWithinSingleList( pcWriteBuffer, &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1526 #endif /* configUSE_TRACE_FACILITY */
\r
1527 /*----------------------------------------------------------*/
\r
1529 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1531 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1533 unsigned portBASE_TYPE uxQueue;
\r
1534 unsigned long ulTotalRunTimeDiv100;
\r
1536 /* This is a VERY costly function that should be used for debug only.
\r
1537 It leaves interrupts disabled for a LONG time. */
\r
1539 vTaskSuspendAll();
\r
1541 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1542 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1544 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1547 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1548 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1549 ulTotalRunTimeDiv100 = ulTotalRunTime / 100UL;
\r
1551 /* Run through all the lists that could potentially contain a TCB,
\r
1552 generating a table of run timer percentages in the provided
\r
1555 *pcWriteBuffer = ( signed char ) 0x00;
\r
1556 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1558 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1564 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1566 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTimeDiv100 );
\r
1568 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1570 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1572 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTimeDiv100 );
\r
1575 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1577 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTimeDiv100 );
\r
1580 #if ( INCLUDE_vTaskDelete == 1 )
\r
1582 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1584 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTimeDiv100 );
\r
1589 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1591 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1593 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTimeDiv100 );
\r
1601 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1602 /*----------------------------------------------------------*/
\r
1604 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1606 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1608 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1609 started, then xIdleTaskHandle will be NULL. */
\r
1610 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1611 return xIdleTaskHandle;
\r
1614 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1615 /*----------------------------------------------------------*/
\r
1617 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1618 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1619 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1621 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1623 void vTaskStepTick( portTickType xTicksToJump )
\r
1625 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1626 xTickCount += xTicksToJump;
\r
1629 #endif /* configUSE_TICKLESS_IDLE */
\r
1630 /*----------------------------------------------------------*/
\r
1632 void vTaskIncrementTick( void )
\r
1636 /* Called by the portable layer each time a tick interrupt occurs.
\r
1637 Increments the tick then checks to see if the new tick value will cause any
\r
1638 tasks to be unblocked. */
\r
1639 traceTASK_INCREMENT_TICK( xTickCount );
\r
1640 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1643 if( xTickCount == ( portTickType ) 0U )
\r
1647 /* Tick count has overflowed so we need to swap the delay lists.
\r
1648 If there are any items in pxDelayedTaskList here then there is
\r
1650 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );
\r
1652 pxTemp = pxDelayedTaskList;
\r
1653 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1654 pxOverflowDelayedTaskList = pxTemp;
\r
1655 xNumOfOverflows++;
\r
1657 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1659 /* The new current delayed list is empty. Set
\r
1660 xNextTaskUnblockTime to the maximum possible value so it is
\r
1661 extremely unlikely that the
\r
1662 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
1663 there is an item in the delayed list. */
\r
1664 xNextTaskUnblockTime = portMAX_DELAY;
\r
1668 /* The new current delayed list is not empty, get the value of
\r
1669 the item at the head of the delayed list. This is the time at
\r
1670 which the task at the head of the delayed list should be removed
\r
1671 from the Blocked state. */
\r
1672 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1673 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1677 /* See if this tick has made a timeout expire. */
\r
1678 prvCheckDelayedTasks();
\r
1684 /* The tick hook gets called at regular intervals, even if the
\r
1685 scheduler is locked. */
\r
1686 #if ( configUSE_TICK_HOOK == 1 )
\r
1688 vApplicationTickHook();
\r
1693 #if ( configUSE_TICK_HOOK == 1 )
\r
1695 /* Guard against the tick hook being called when the missed tick
\r
1696 count is being unwound (when the scheduler is being unlocked. */
\r
1697 if( uxMissedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1699 vApplicationTickHook();
\r
1702 #endif /* configUSE_TICK_HOOK */
\r
1704 /*-----------------------------------------------------------*/
\r
1706 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1708 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1712 /* If xTask is NULL then we are setting our own task hook. */
\r
1713 if( xTask == NULL )
\r
1715 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1719 xTCB = ( tskTCB * ) xTask;
\r
1722 /* Save the hook function in the TCB. A critical section is required as
\r
1723 the value can be accessed from an interrupt. */
\r
1724 taskENTER_CRITICAL();
\r
1725 xTCB->pxTaskTag = pxHookFunction;
\r
1726 taskEXIT_CRITICAL();
\r
1729 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1730 /*-----------------------------------------------------------*/
\r
1732 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1734 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1737 pdTASK_HOOK_CODE xReturn;
\r
1739 /* If xTask is NULL then we are setting our own task hook. */
\r
1740 if( xTask == NULL )
\r
1742 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1746 xTCB = ( tskTCB * ) xTask;
\r
1749 /* Save the hook function in the TCB. A critical section is required as
\r
1750 the value can be accessed from an interrupt. */
\r
1751 taskENTER_CRITICAL();
\r
1752 xReturn = xTCB->pxTaskTag;
\r
1753 taskEXIT_CRITICAL();
\r
1758 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1759 /*-----------------------------------------------------------*/
\r
1761 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1763 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1766 portBASE_TYPE xReturn;
\r
1768 /* If xTask is NULL then we are calling our own task hook. */
\r
1769 if( xTask == NULL )
\r
1771 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1775 xTCB = ( tskTCB * ) xTask;
\r
1778 if( xTCB->pxTaskTag != NULL )
\r
1780 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1790 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1791 /*-----------------------------------------------------------*/
\r
1793 void vTaskSwitchContext( void )
\r
1795 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1797 /* The scheduler is currently suspended - do not allow a context
\r
1799 xMissedYield = pdTRUE;
\r
1803 traceTASK_SWITCHED_OUT();
\r
1805 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1807 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1808 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1810 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1813 /* Add the amount of time the task has been running to the accumulated
\r
1814 time so far. The time the task started running was stored in
\r
1815 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1816 so count values are only valid until the timer overflows. Generally
\r
1817 this will be about 1 hour assuming a 1uS timer increment. */
\r
1818 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
1819 ulTaskSwitchedInTime = ulTotalRunTime;
\r
1821 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1823 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1824 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1826 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
1828 traceTASK_SWITCHED_IN();
\r
1831 /*-----------------------------------------------------------*/
\r
1833 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1835 portTickType xTimeToWake;
\r
1837 configASSERT( pxEventList );
\r
1839 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1840 SCHEDULER SUSPENDED. */
\r
1842 /* Place the event list item of the TCB in the appropriate event list.
\r
1843 This is placed in the list in priority order so the highest priority task
\r
1844 is the first to be woken by the event. */
\r
1845 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1847 /* We must remove ourselves from the ready list before adding ourselves
\r
1848 to the blocked list as the same list item is used for both lists. We have
\r
1849 exclusive access to the ready lists as the scheduler is locked. */
\r
1850 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1852 /* The current task must be in a ready list, so there is no need to
\r
1853 check, and the port reset macro can be called directly. */
\r
1854 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1857 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1859 if( xTicksToWait == portMAX_DELAY )
\r
1861 /* Add ourselves to the suspended task list instead of a delayed task
\r
1862 list to ensure we are not woken by a timing event. We will block
\r
1864 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1868 /* Calculate the time at which the task should be woken if the event does
\r
1869 not occur. This may overflow but this doesn't matter. */
\r
1870 xTimeToWake = xTickCount + xTicksToWait;
\r
1871 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1874 #else /* INCLUDE_vTaskSuspend */
\r
1876 /* Calculate the time at which the task should be woken if the event does
\r
1877 not occur. This may overflow but this doesn't matter. */
\r
1878 xTimeToWake = xTickCount + xTicksToWait;
\r
1879 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1881 #endif /* INCLUDE_vTaskSuspend */
\r
1883 /*-----------------------------------------------------------*/
\r
1885 #if configUSE_TIMERS == 1
\r
1887 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1889 portTickType xTimeToWake;
\r
1891 configASSERT( pxEventList );
\r
1893 /* This function should not be called by application code hence the
\r
1894 'Restricted' in its name. It is not part of the public API. It is
\r
1895 designed for use by kernel code, and has special calling requirements -
\r
1896 it should be called from a critical section. */
\r
1899 /* Place the event list item of the TCB in the appropriate event list.
\r
1900 In this case it is assume that this is the only task that is going to
\r
1901 be waiting on this event list, so the faster vListInsertEnd() function
\r
1902 can be used in place of vListInsert. */
\r
1903 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1905 /* We must remove this task from the ready list before adding it to the
\r
1906 blocked list as the same list item is used for both lists. This
\r
1907 function is called form a critical section. */
\r
1908 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1910 /* The current task must be in a ready list, so there is no need to
\r
1911 check, and the port reset macro can be called directly. */
\r
1912 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1915 /* Calculate the time at which the task should be woken if the event does
\r
1916 not occur. This may overflow but this doesn't matter. */
\r
1917 xTimeToWake = xTickCount + xTicksToWait;
\r
1919 traceTASK_DELAY_UNTIL();
\r
1920 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1923 #endif /* configUSE_TIMERS */
\r
1924 /*-----------------------------------------------------------*/
\r
1926 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1928 tskTCB *pxUnblockedTCB;
\r
1929 portBASE_TYPE xReturn;
\r
1931 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1932 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1934 /* The event list is sorted in priority order, so we can remove the
\r
1935 first in the list, remove the TCB from the delayed list, and add
\r
1936 it to the ready list.
\r
1938 If an event is for a queue that is locked then this function will never
\r
1939 get called - the lock count on the queue will get modified instead. This
\r
1940 means we can always expect exclusive access to the event list here.
\r
1942 This function assumes that a check has already been made to ensure that
\r
1943 pxEventList is not empty. */
\r
1944 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1945 configASSERT( pxUnblockedTCB );
\r
1946 uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1948 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1950 uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1951 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1955 /* We cannot access the delayed or ready lists, so will hold this
\r
1956 task pending until the scheduler is resumed. */
\r
1957 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1960 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1962 /* Return true if the task removed from the event list has
\r
1963 a higher priority than the calling task. This allows
\r
1964 the calling task to know if it should force a context
\r
1970 xReturn = pdFALSE;
\r
1975 /*-----------------------------------------------------------*/
\r
1977 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1979 configASSERT( pxTimeOut );
\r
1980 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1981 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1983 /*-----------------------------------------------------------*/
\r
1985 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1987 portBASE_TYPE xReturn;
\r
1989 configASSERT( pxTimeOut );
\r
1990 configASSERT( pxTicksToWait );
\r
1992 taskENTER_CRITICAL();
\r
1994 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1995 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1996 the maximum block time then the task should block indefinitely, and
\r
1997 therefore never time out. */
\r
1998 if( *pxTicksToWait == portMAX_DELAY )
\r
2000 xReturn = pdFALSE;
\r
2002 else /* We are not blocking indefinitely, perform the checks below. */
\r
2005 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
2007 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2008 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2009 It must have wrapped all the way around and gone past us again. This
\r
2010 passed since vTaskSetTimeout() was called. */
\r
2013 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
2015 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2016 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
2017 vTaskSetTimeOutState( pxTimeOut );
\r
2018 xReturn = pdFALSE;
\r
2025 taskEXIT_CRITICAL();
\r
2029 /*-----------------------------------------------------------*/
\r
2031 void vTaskMissedYield( void )
\r
2033 xMissedYield = pdTRUE;
\r
2035 /*-----------------------------------------------------------*/
\r
2037 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2039 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
2041 unsigned portBASE_TYPE uxReturn;
\r
2044 if( xTask != NULL )
\r
2046 pxTCB = ( tskTCB * ) xTask;
\r
2047 uxReturn = pxTCB->uxTaskNumber;
\r
2057 #endif /* configUSE_TRACE_FACILITY */
\r
2058 /*-----------------------------------------------------------*/
\r
2060 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2062 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
2066 if( xTask != NULL )
\r
2068 pxTCB = ( tskTCB * ) xTask;
\r
2069 pxTCB->uxTaskNumber = uxHandle;
\r
2073 #endif /* configUSE_TRACE_FACILITY */
\r
2076 * -----------------------------------------------------------
\r
2078 * ----------------------------------------------------------
\r
2080 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2081 * language extensions. The equivalent prototype for this function is:
\r
2083 * void prvIdleTask( void *pvParameters );
\r
2086 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2088 /* Stop warnings. */
\r
2089 ( void ) pvParameters;
\r
2093 /* See if any tasks have been deleted. */
\r
2094 prvCheckTasksWaitingTermination();
\r
2096 #if ( configUSE_PREEMPTION == 0 )
\r
2098 /* If we are not using preemption we keep forcing a task switch to
\r
2099 see if any other task has become available. If we are using
\r
2100 preemption we don't need to do this as any task becoming available
\r
2101 will automatically get the processor anyway. */
\r
2104 #endif /* configUSE_PREEMPTION */
\r
2106 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2108 /* When using preemption tasks of equal priority will be
\r
2109 timesliced. If a task that is sharing the idle priority is ready
\r
2110 to run then the idle task should yield before the end of the
\r
2113 A critical region is not required here as we are just reading from
\r
2114 the list, and an occasional incorrect value will not matter. If
\r
2115 the ready list at the idle priority contains more than one task
\r
2116 then a task other than the idle task is ready to execute. */
\r
2117 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2122 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2124 #if ( configUSE_IDLE_HOOK == 1 )
\r
2126 extern void vApplicationIdleHook( void );
\r
2128 /* Call the user defined function from within the idle task. This
\r
2129 allows the application designer to add background functionality
\r
2130 without the overhead of a separate task.
\r
2131 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2132 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2133 vApplicationIdleHook();
\r
2135 #endif /* configUSE_IDLE_HOOK */
\r
2137 /* This conditional compilation should use inequality to 0, not equality
\r
2138 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2139 user defined low power mode implementations require
\r
2140 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2141 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2143 portTickType xExpectedIdleTime;
\r
2144 /* It is not desirable to suspend then resume the scheduler on
\r
2145 each iteration of the idle task. Therefore, a preliminary
\r
2146 test of the expected idle time is performed without the
\r
2147 scheduler suspended. The result here is not necessarily
\r
2149 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2151 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2153 vTaskSuspendAll();
\r
2155 /* Now the scheduler is suspended, the expected idle
\r
2156 time can be sampled again, and this time its value can
\r
2158 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2159 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2161 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2163 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2169 #endif /* configUSE_TICKLESS_IDLE */
\r
2171 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
2172 /*-----------------------------------------------------------*/
\r
2174 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2176 /* Store the function name in the TCB. */
\r
2177 #if configMAX_TASK_NAME_LEN > 1
\r
2179 /* Don't bring strncpy into the build unnecessarily. */
\r
2180 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
2182 #endif /* configMAX_TASK_NAME_LEN */
\r
2183 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
\r
2185 /* This is used as an array index so must ensure it's not too large. First
\r
2186 remove the privilege bit if one is present. */
\r
2187 if( uxPriority >= configMAX_PRIORITIES )
\r
2189 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2192 pxTCB->uxPriority = uxPriority;
\r
2193 #if ( configUSE_MUTEXES == 1 )
\r
2195 pxTCB->uxBasePriority = uxPriority;
\r
2197 #endif /* configUSE_MUTEXES */
\r
2199 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2200 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2202 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2203 back to the containing TCB from a generic item in a list. */
\r
2204 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2206 /* Event lists are always in priority order. */
\r
2207 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
2208 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2210 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2212 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2214 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2216 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2218 pxTCB->pxTaskTag = NULL;
\r
2220 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2222 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2224 pxTCB->ulRunTimeCounter = 0UL;
\r
2226 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2228 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2230 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2232 #else /* portUSING_MPU_WRAPPERS */
\r
2234 ( void ) xRegions;
\r
2235 ( void ) usStackDepth;
\r
2237 #endif /* portUSING_MPU_WRAPPERS */
\r
2239 /*-----------------------------------------------------------*/
\r
2241 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2243 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2247 if( xTaskToModify == pxCurrentTCB )
\r
2249 xTaskToModify = NULL;
\r
2252 /* If null is passed in here then we are deleting ourselves. */
\r
2253 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2255 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2258 #endif /* portUSING_MPU_WRAPPERS */
\r
2259 /*-----------------------------------------------------------*/
\r
2261 static void prvInitialiseTaskLists( void )
\r
2263 unsigned portBASE_TYPE uxPriority;
\r
2265 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2267 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2270 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2271 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2272 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2274 #if ( INCLUDE_vTaskDelete == 1 )
\r
2276 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2278 #endif /* INCLUDE_vTaskDelete */
\r
2280 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2282 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2284 #endif /* INCLUDE_vTaskSuspend */
\r
2286 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2288 pxDelayedTaskList = &xDelayedTaskList1;
\r
2289 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2291 /*-----------------------------------------------------------*/
\r
2293 static void prvCheckTasksWaitingTermination( void )
\r
2295 #if ( INCLUDE_vTaskDelete == 1 )
\r
2297 portBASE_TYPE xListIsEmpty;
\r
2299 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2300 too often in the idle task. */
\r
2301 while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2303 vTaskSuspendAll();
\r
2304 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2307 if( xListIsEmpty == pdFALSE )
\r
2311 taskENTER_CRITICAL();
\r
2313 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2314 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2315 --uxCurrentNumberOfTasks;
\r
2318 taskEXIT_CRITICAL();
\r
2320 prvDeleteTCB( pxTCB );
\r
2324 #endif /* vTaskDelete */
\r
2326 /*-----------------------------------------------------------*/
\r
2328 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2330 /* The list item will be inserted in wake time order. */
\r
2331 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2333 if( xTimeToWake < xTickCount )
\r
2335 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2336 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2340 /* The wake time has not overflowed, so we can use the current block list. */
\r
2341 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2343 /* If the task entering the blocked state was placed at the head of the
\r
2344 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2346 if( xTimeToWake < xNextTaskUnblockTime )
\r
2348 xNextTaskUnblockTime = xTimeToWake;
\r
2352 /*-----------------------------------------------------------*/
\r
2354 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2358 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2359 the implementation of the port malloc function. */
\r
2360 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2362 if( pxNewTCB != NULL )
\r
2364 /* Allocate space for the stack used by the task being created.
\r
2365 The base of the stack memory stored in the TCB so the task can
\r
2366 be deleted later if required. */
\r
2367 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2369 if( pxNewTCB->pxStack == NULL )
\r
2371 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2372 vPortFree( pxNewTCB );
\r
2377 /* Just to help debugging. */
\r
2378 memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2384 /*-----------------------------------------------------------*/
\r
2386 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2388 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2390 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2391 unsigned short usStackRemaining;
\r
2392 PRIVILEGED_DATA static char pcStatusString[ configMAX_TASK_NAME_LEN + 30 ];
\r
2394 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2395 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2398 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2399 #if ( portSTACK_GROWTH > 0 )
\r
2401 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2405 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2409 sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, ( unsigned int ) usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
\r
2410 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2412 } while( pxNextTCB != pxFirstTCB );
\r
2415 #endif /* configUSE_TRACE_FACILITY */
\r
2416 /*-----------------------------------------------------------*/
\r
2418 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2420 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTimeDiv100 )
\r
2422 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2423 unsigned long ulStatsAsPercentage;
\r
2425 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2426 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2429 /* Get next TCB in from the list. */
\r
2430 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2432 /* Divide by zero check. */
\r
2433 if( ulTotalRunTimeDiv100 > 0UL )
\r
2435 /* Has the task run at all? */
\r
2436 if( pxNextTCB->ulRunTimeCounter == 0UL )
\r
2438 /* The task has used no CPU time at all. */
\r
2439 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2443 /* What percentage of the total run time has the task used?
\r
2444 This will always be rounded down to the nearest integer.
\r
2445 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
2446 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTimeDiv100;
\r
2448 if( ulStatsAsPercentage > 0UL )
\r
2450 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2452 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2456 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2457 printf() library can be used. */
\r
2458 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2464 /* If the percentage is zero here then the task has
\r
2465 consumed less than 1% of the total run time. */
\r
2466 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2468 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2472 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2473 printf() library can be used. */
\r
2474 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2480 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2483 } while( pxNextTCB != pxFirstTCB );
\r
2486 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2487 /*-----------------------------------------------------------*/
\r
2489 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2491 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2493 register unsigned short usCount = 0U;
\r
2495 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2497 pucStackByte -= portSTACK_GROWTH;
\r
2501 usCount /= sizeof( portSTACK_TYPE );
\r
2506 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
2507 /*-----------------------------------------------------------*/
\r
2509 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2511 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2514 unsigned char *pcEndOfStack;
\r
2515 unsigned portBASE_TYPE uxReturn;
\r
2517 pxTCB = prvGetTCBFromHandle( xTask );
\r
2519 #if portSTACK_GROWTH < 0
\r
2521 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2525 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2529 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2534 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
2535 /*-----------------------------------------------------------*/
\r
2537 #if ( INCLUDE_vTaskDelete == 1 )
\r
2539 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2541 /* This call is required specifically for the TriCore port. It must be
\r
2542 above the vPortFree() calls. The call is also used by ports/demos that
\r
2543 want to allocate and clean RAM statically. */
\r
2544 portCLEAN_UP_TCB( pxTCB );
\r
2546 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2547 the task to free any memory allocated at the application level. */
\r
2548 vPortFreeAligned( pxTCB->pxStack );
\r
2549 vPortFree( pxTCB );
\r
2552 #endif /* INCLUDE_vTaskDelete */
\r
2553 /*-----------------------------------------------------------*/
\r
2555 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2557 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2559 xTaskHandle xReturn;
\r
2561 /* A critical section is not required as this is not called from
\r
2562 an interrupt and the current TCB will always be the same for any
\r
2563 individual execution thread. */
\r
2564 xReturn = pxCurrentTCB;
\r
2569 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
2570 /*-----------------------------------------------------------*/
\r
2572 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2574 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2576 portBASE_TYPE xReturn;
\r
2578 if( xSchedulerRunning == pdFALSE )
\r
2580 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2584 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2586 xReturn = taskSCHEDULER_RUNNING;
\r
2590 xReturn = taskSCHEDULER_SUSPENDED;
\r
2597 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
2598 /*-----------------------------------------------------------*/
\r
2600 #if ( configUSE_MUTEXES == 1 )
\r
2602 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2604 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2606 /* If the mutex was given back by an interrupt while the queue was
\r
2607 locked then the mutex holder might now be NULL. */
\r
2608 if( pxMutexHolder != NULL )
\r
2610 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2612 /* Adjust the mutex holder state to account for its new priority. */
\r
2613 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2615 /* If the task being modified is in the ready state it will need to
\r
2616 be moved into a new list. */
\r
2617 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2619 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2621 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2624 /* Inherit the priority before being moved into the new list. */
\r
2625 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2626 prvAddTaskToReadyQueue( pxTCB );
\r
2630 /* Just inherit the priority. */
\r
2631 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2634 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2639 #endif /* configUSE_MUTEXES */
\r
2640 /*-----------------------------------------------------------*/
\r
2642 #if ( configUSE_MUTEXES == 1 )
\r
2644 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2646 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2648 if( pxMutexHolder != NULL )
\r
2650 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2652 /* We must be the running task to be able to give the mutex back.
\r
2653 Remove ourselves from the ready list we currently appear in. */
\r
2654 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2656 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2659 /* Disinherit the priority before adding the task into the new
\r
2661 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2662 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2663 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2664 prvAddTaskToReadyQueue( pxTCB );
\r
2669 #endif /* configUSE_MUTEXES */
\r
2670 /*-----------------------------------------------------------*/
\r
2672 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2674 void vTaskEnterCritical( void )
\r
2676 portDISABLE_INTERRUPTS();
\r
2678 if( xSchedulerRunning != pdFALSE )
\r
2680 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2684 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2685 /*-----------------------------------------------------------*/
\r
2687 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2689 void vTaskExitCritical( void )
\r
2691 if( xSchedulerRunning != pdFALSE )
\r
2693 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2695 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2697 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2699 portENABLE_INTERRUPTS();
\r
2705 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2706 /*-----------------------------------------------------------*/
\r
projects / freertos / blob