2 FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 ***************************************************************************
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46 * Having a problem? Start by reading the FAQ "My application does *
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47 * not run, what could be wrong? *
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49 * http://www.FreeRTOS.org/FAQHelp.html *
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51 ***************************************************************************
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54 http://www.FreeRTOS.org - Documentation, training, latest information,
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55 license and contact details.
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57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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58 including FreeRTOS+Trace - an indispensable productivity tool.
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60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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61 the code with commercial support, indemnification, and middleware, under
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62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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63 provide a safety engineered and independently SIL3 certified version under
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64 the SafeRTOS brand: http://www.SafeRTOS.com.
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72 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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73 all the API functions to use the MPU wrappers. That should only be done when
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74 task.h is included from an application file. */
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75 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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77 #include "FreeRTOS.h"
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80 #include "StackMacros.h"
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82 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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85 * Macro to define the amount of stack available to the idle task.
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87 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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90 * Task control block. A task control block (TCB) is allocated to each task,
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91 * and stores the context of the task.
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93 typedef struct tskTaskControlBlock
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95 volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE STRUCT. */
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97 #if ( portUSING_MPU_WRAPPERS == 1 )
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98 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE STRUCT. */
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101 xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
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102 xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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103 unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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104 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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105 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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107 #if ( portSTACK_GROWTH > 0 )
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108 portSTACK_TYPE *pxEndOfStack; /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
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111 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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112 unsigned portBASE_TYPE uxCriticalNesting;
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115 #if ( configUSE_TRACE_FACILITY == 1 )
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116 unsigned portBASE_TYPE uxTCBNumber; /*< This stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
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117 unsigned portBASE_TYPE uxTaskNumber; /*< This stores a number specifically for use by third party trace code. */
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120 #if ( configUSE_MUTEXES == 1 )
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121 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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124 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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125 pdTASK_HOOK_CODE pxTaskTag;
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128 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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129 unsigned long ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
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136 * Some kernel aware debuggers require data to be viewed to be global, rather
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139 #ifdef portREMOVE_STATIC_QUALIFIER
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144 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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146 /* Lists for ready and blocked tasks. --------------------*/
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148 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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149 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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150 PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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151 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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152 PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
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153 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */
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155 #if ( INCLUDE_vTaskDelete == 1 )
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157 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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158 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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162 #if ( INCLUDE_vTaskSuspend == 1 )
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164 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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168 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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170 PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL;
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174 /* File private variables. --------------------------------*/
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175 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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176 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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177 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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178 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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179 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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180 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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181 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0U;
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182 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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183 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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184 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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185 PRIVILEGED_DATA static portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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187 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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189 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
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190 PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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191 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
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195 /* Debugging and trace facilities private variables and macros. ------------*/
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198 * The value used to fill the stack of a task when the task is created. This
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199 * is used purely for checking the high water mark for tasks.
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201 #define tskSTACK_FILL_BYTE ( 0xa5U )
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204 * Macros used by vListTask to indicate which state a task is in.
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206 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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207 #define tskREADY_CHAR ( ( signed char ) 'R' )
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208 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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209 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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211 /*-----------------------------------------------------------*/
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213 #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 0
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215 * uxTopReadyPriority holds the priority of the highest priority ready
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218 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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220 if( ( uxPriority ) > uxTopReadyPriority ) \
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222 uxTopReadyPriority = ( uxPriority ); \
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224 } /* taskRECORD_READY_PRIORITY */
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226 /*-----------------------------------------------------------*/
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228 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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230 /* Find the highest priority queue that contains ready tasks. */ \
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231 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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233 configASSERT( uxTopReadyPriority ); \
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234 --uxTopReadyPriority; \
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237 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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238 the same priority get an equal share of the processor time. */ \
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239 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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240 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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242 /*-----------------------------------------------------------*/
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244 /* Define away taskCHECK_READY_LIST() as it is not required in this
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246 #define taskCHECK_READY_LIST( uxPriority )
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248 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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250 /* A port optimised version is provided. Call the port defined macros. */
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251 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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253 /*-----------------------------------------------------------*/
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255 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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257 unsigned portBASE_TYPE uxTopPriority; \
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259 /* Find the highest priority queue that contains ready tasks. */ \
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260 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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261 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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262 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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264 /*-----------------------------------------------------------*/
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266 /* Let the port layer know if the ready list is empty so
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267 taskSELECT_HIGHEST_PRIORITY_TASK() can function correctly. */
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268 #define taskCHECK_READY_LIST( uxPriority ) \
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270 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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272 portRESET_READY_PRIORITY( ( uxPriority ), uxTopReadyPriority ); \
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274 } /* taskCHECK_READY_LIST() */
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277 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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280 * Place the task represented by pxTCB into the appropriate ready queue for
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281 * the task. It is inserted at the end of the list. One quirk of this is
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282 * that if the task being inserted is at the same priority as the currently
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283 * executing task, then it will only be rescheduled after the currently
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284 * executing task has been rescheduled.
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286 #define prvAddTaskToReadyQueue( pxTCB ) \
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287 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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288 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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289 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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290 /*-----------------------------------------------------------*/
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293 * Macro that looks at the list of tasks that are currently delayed to see if
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294 * any require waking.
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296 * Tasks are stored in the queue in the order of their wake time - meaning
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297 * once one tasks has been found whose timer has not expired we need not look
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298 * any further down the list.
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300 #define prvCheckDelayedTasks() \
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302 portTickType xItemValue; \
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304 /* Is the tick count greater than or equal to the wake time of the first \
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305 task referenced from the delayed tasks list? */ \
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306 if( xTickCount >= xNextTaskUnblockTime ) \
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310 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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312 /* The delayed list is empty. Set xNextTaskUnblockTime to the \
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313 maximum possible value so it is extremely unlikely that the \
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314 if( xTickCount >= xNextTaskUnblockTime ) test will pass next \
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316 xNextTaskUnblockTime = portMAX_DELAY; \
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321 /* The delayed list is not empty, get the value of the item at \
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322 the head of the delayed list. This is the time at which the \
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323 task at the head of the delayed list should be removed from \
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324 the Blocked state. */ \
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325 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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326 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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328 if( xTickCount < xItemValue ) \
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330 /* It is not time to unblock this item yet, but the item \
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331 value is the time at which the task at the head of the \
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332 blocked list should be removed from the Blocked state - \
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333 so record the item value in xNextTaskUnblockTime. */ \
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334 xNextTaskUnblockTime = xItemValue; \
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338 /* It is time to remove the item from the Blocked state. */ \
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339 vListRemove( &( pxTCB->xGenericListItem ) ); \
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341 /* Is the task waiting on an event also? */ \
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342 if( pxTCB->xEventListItem.pvContainer != NULL ) \
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344 vListRemove( &( pxTCB->xEventListItem ) ); \
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346 prvAddTaskToReadyQueue( pxTCB ); \
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351 /*-----------------------------------------------------------*/
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354 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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355 * where NULL is used to indicate that the handle of the currently executing
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356 * task should be used in place of the parameter. This macro simply checks to
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357 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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359 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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361 /* Callback function prototypes. --------------------------*/
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362 extern void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName );
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363 extern void vApplicationTickHook( void );
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365 /* File private functions. --------------------------------*/
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368 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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369 * into the TCB structure.
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371 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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374 * Utility to ready all the lists used by the scheduler. This is called
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375 * automatically upon the creation of the first task.
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377 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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380 * The idle task, which as all tasks is implemented as a never ending loop.
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381 * The idle task is automatically created and added to the ready lists upon
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382 * creation of the first user task.
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384 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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385 * language extensions. The equivalent prototype for this function is:
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387 * void prvIdleTask( void *pvParameters );
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390 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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393 * Utility to free all memory allocated by the scheduler to hold a TCB,
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394 * including the stack pointed to by the TCB.
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396 * This does not free memory allocated by the task itself (i.e. memory
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397 * allocated by calls to pvPortMalloc from within the tasks application code).
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399 #if ( INCLUDE_vTaskDelete == 1 )
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401 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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406 * Used only by the idle task. This checks to see if anything has been placed
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407 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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408 * and its TCB deleted.
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410 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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413 * The currently executing task is entering the Blocked state. Add the task to
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414 * either the current or the overflow delayed task list.
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416 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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419 * Allocates memory from the heap for a TCB and associated stack. Checks the
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420 * allocation was successful.
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422 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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425 * Called from vTaskList. vListTasks details all the tasks currently under
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426 * control of the scheduler. The tasks may be in one of a number of lists.
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427 * prvListTaskWithinSingleList accepts a list and details the tasks from
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428 * within just that list.
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430 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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431 * NORMAL APPLICATION CODE.
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433 #if ( configUSE_TRACE_FACILITY == 1 )
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435 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
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440 * When a task is created, the stack of the task is filled with a known value.
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441 * This function determines the 'high water mark' of the task stack by
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442 * determining how much of the stack remains at the original preset value.
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444 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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446 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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455 /*-----------------------------------------------------------
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456 * TASK CREATION API documented in task.h
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457 *----------------------------------------------------------*/
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459 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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461 signed portBASE_TYPE xReturn;
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464 configASSERT( pxTaskCode );
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465 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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467 /* Allocate the memory required by the TCB and stack for the new task,
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468 checking that the allocation was successful. */
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469 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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471 if( pxNewTCB != NULL )
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473 portSTACK_TYPE *pxTopOfStack;
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475 #if( portUSING_MPU_WRAPPERS == 1 )
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476 /* Should the task be created in privileged mode? */
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477 portBASE_TYPE xRunPrivileged;
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478 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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480 xRunPrivileged = pdTRUE;
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484 xRunPrivileged = pdFALSE;
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486 uxPriority &= ~portPRIVILEGE_BIT;
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487 #endif /* portUSING_MPU_WRAPPERS == 1 */
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489 /* Calculate the top of stack address. This depends on whether the
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490 stack grows from high memory to low (as per the 80x86) or visa versa.
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491 portSTACK_GROWTH is used to make the result positive or negative as
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492 required by the port. */
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493 #if( portSTACK_GROWTH < 0 )
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495 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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496 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
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498 /* Check the alignment of the calculated top of stack is correct. */
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499 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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503 pxTopOfStack = pxNewTCB->pxStack;
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505 /* Check the alignment of the stack buffer is correct. */
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506 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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508 /* If we want to use stack checking on architectures that use
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509 a positive stack growth direction then we also need to store the
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510 other extreme of the stack space. */
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511 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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515 /* Setup the newly allocated TCB with the initial state of the task. */
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516 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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518 /* Initialize the TCB stack to look as if the task was already running,
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519 but had been interrupted by the scheduler. The return address is set
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520 to the start of the task function. Once the stack has been initialised
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521 the top of stack variable is updated. */
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522 #if( portUSING_MPU_WRAPPERS == 1 )
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524 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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528 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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532 /* Check the alignment of the initialised stack. */
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533 portALIGNMENT_ASSERT_pxCurrentTCB( ( ( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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535 if( ( void * ) pxCreatedTask != NULL )
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537 /* Pass the TCB out - in an anonymous way. The calling function/
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538 task can use this as a handle to delete the task later if
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540 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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543 /* We are going to manipulate the task queues to add this task to a
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544 ready list, so must make sure no interrupts occur. */
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545 taskENTER_CRITICAL();
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547 uxCurrentNumberOfTasks++;
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548 if( pxCurrentTCB == NULL )
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550 /* There are no other tasks, or all the other tasks are in
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551 the suspended state - make this the current task. */
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552 pxCurrentTCB = pxNewTCB;
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554 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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556 /* This is the first task to be created so do the preliminary
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557 initialisation required. We will not recover if this call
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558 fails, but we will report the failure. */
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559 prvInitialiseTaskLists();
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564 /* If the scheduler is not already running, make this task the
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565 current task if it is the highest priority task to be created
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567 if( xSchedulerRunning == pdFALSE )
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569 if( pxCurrentTCB->uxPriority <= uxPriority )
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571 pxCurrentTCB = pxNewTCB;
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576 /* Remember the top priority to make context switching faster. Use
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577 the priority in pxNewTCB as this has been capped to a valid value. */
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578 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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580 uxTopUsedPriority = pxNewTCB->uxPriority;
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583 #if ( configUSE_TRACE_FACILITY == 1 )
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585 /* Add a counter into the TCB for tracing only. */
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586 pxNewTCB->uxTCBNumber = uxTaskNumber;
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591 prvAddTaskToReadyQueue( pxNewTCB );
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594 portSETUP_TCB( pxNewTCB );
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595 traceTASK_CREATE( pxNewTCB );
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597 taskEXIT_CRITICAL();
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601 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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602 traceTASK_CREATE_FAILED();
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605 if( xReturn == pdPASS )
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607 if( xSchedulerRunning != pdFALSE )
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609 /* If the created task is of a higher priority than the current task
\r
610 then it should run now. */
\r
611 if( pxCurrentTCB->uxPriority < uxPriority )
\r
613 portYIELD_WITHIN_API();
\r
620 /*-----------------------------------------------------------*/
\r
622 #if ( INCLUDE_vTaskDelete == 1 )
\r
624 void vTaskDelete( xTaskHandle pxTaskToDelete )
\r
628 taskENTER_CRITICAL();
\r
630 /* Ensure a yield is performed if the current task is being
\r
632 if( pxTaskToDelete == pxCurrentTCB )
\r
634 pxTaskToDelete = NULL;
\r
637 /* If null is passed in here then we are deleting ourselves. */
\r
638 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
\r
640 /* Remove task from the ready list and place in the termination list.
\r
641 This will stop the task from be scheduled. The idle task will check
\r
642 the termination list and free up any memory allocated by the
\r
643 scheduler for the TCB and stack. */
\r
644 vListRemove( &( pxTCB->xGenericListItem ) );
\r
645 taskCHECK_READY_LIST( pxTCB->uxPriority );
\r
647 /* Is the task waiting on an event also? */
\r
648 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
650 vListRemove( &( pxTCB->xEventListItem ) );
\r
653 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
655 /* Increment the ucTasksDeleted variable so the idle task knows
\r
656 there is a task that has been deleted and that it should therefore
\r
657 check the xTasksWaitingTermination list. */
\r
660 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
661 can detect that the task lists need re-generating. */
\r
664 traceTASK_DELETE( pxTCB );
\r
666 taskEXIT_CRITICAL();
\r
668 /* Force a reschedule if we have just deleted the current task. */
\r
669 if( xSchedulerRunning != pdFALSE )
\r
671 if( ( void * ) pxTaskToDelete == NULL )
\r
673 portYIELD_WITHIN_API();
\r
685 /*-----------------------------------------------------------
\r
686 * TASK CONTROL API documented in task.h
\r
687 *----------------------------------------------------------*/
\r
689 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
691 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
693 portTickType xTimeToWake;
\r
694 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
696 configASSERT( pxPreviousWakeTime );
\r
697 configASSERT( ( xTimeIncrement > 0U ) );
\r
701 /* Generate the tick time at which the task wants to wake. */
\r
702 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
704 if( xTickCount < *pxPreviousWakeTime )
\r
706 /* The tick count has overflowed since this function was
\r
707 lasted called. In this case the only time we should ever
\r
708 actually delay is if the wake time has also overflowed,
\r
709 and the wake time is greater than the tick time. When this
\r
710 is the case it is as if neither time had overflowed. */
\r
711 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
713 xShouldDelay = pdTRUE;
\r
718 /* The tick time has not overflowed. In this case we will
\r
719 delay if either the wake time has overflowed, and/or the
\r
720 tick time is less than the wake time. */
\r
721 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
723 xShouldDelay = pdTRUE;
\r
727 /* Update the wake time ready for the next call. */
\r
728 *pxPreviousWakeTime = xTimeToWake;
\r
730 if( xShouldDelay != pdFALSE )
\r
732 traceTASK_DELAY_UNTIL();
\r
734 /* We must remove ourselves from the ready list before adding
\r
735 ourselves to the blocked list as the same list item is used for
\r
737 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
738 taskCHECK_READY_LIST( pxCurrentTCB->uxPriority );
\r
739 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
742 xAlreadyYielded = xTaskResumeAll();
\r
744 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
745 have put ourselves to sleep. */
\r
746 if( xAlreadyYielded == pdFALSE )
\r
748 portYIELD_WITHIN_API();
\r
753 /*-----------------------------------------------------------*/
\r
755 #if ( INCLUDE_vTaskDelay == 1 )
\r
757 void vTaskDelay( portTickType xTicksToDelay )
\r
759 portTickType xTimeToWake;
\r
760 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
762 /* A delay time of zero just forces a reschedule. */
\r
763 if( xTicksToDelay > ( portTickType ) 0U )
\r
769 /* A task that is removed from the event list while the
\r
770 scheduler is suspended will not get placed in the ready
\r
771 list or removed from the blocked list until the scheduler
\r
774 This task cannot be in an event list as it is the currently
\r
777 /* Calculate the time to wake - this may overflow but this is
\r
779 xTimeToWake = xTickCount + xTicksToDelay;
\r
781 /* We must remove ourselves from the ready list before adding
\r
782 ourselves to the blocked list as the same list item is used for
\r
784 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
785 taskCHECK_READY_LIST( pxCurrentTCB->uxPriority );
\r
786 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
788 xAlreadyYielded = xTaskResumeAll();
\r
791 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
792 have put ourselves to sleep. */
\r
793 if( xAlreadyYielded == pdFALSE )
\r
795 portYIELD_WITHIN_API();
\r
800 /*-----------------------------------------------------------*/
\r
802 #if ( INCLUDE_eTaskStateGet == 1 )
\r
804 eTaskState eTaskStateGet( xTaskHandle pxTask )
\r
806 eTaskState eReturn;
\r
807 xList *pxStateList;
\r
810 pxTCB = ( tskTCB * ) pxTask;
\r
812 if( pxTCB == pxCurrentTCB )
\r
814 /* The task calling this function is querying its own state. */
\r
815 eReturn = eRunning;
\r
819 taskENTER_CRITICAL();
\r
821 pxStateList = ( xList * ) listLIST_ITEM_CONTAINED( &( pxTCB->xGenericListItem ) );
\r
823 taskEXIT_CRITICAL();
\r
825 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
827 /* The task being queried is referenced from one of the Blocked
\r
829 eReturn = eBlocked;
\r
832 #if ( INCLUDE_vTaskSuspend == 1 )
\r
833 else if( pxStateList == &xSuspendedTaskList )
\r
835 /* The task being queried is referenced from the suspended
\r
837 eReturn = eSuspended;
\r
841 #if ( INCLUDE_vTaskDelete == 1 )
\r
842 else if( pxStateList == &xTasksWaitingTermination )
\r
844 /* The task being queried is referenced from the deleted
\r
846 eReturn = eDeleted;
\r
852 /* If the task is not in any other state, it must be in the
\r
853 Ready (including pending ready) state. */
\r
862 /*-----------------------------------------------------------*/
\r
864 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
866 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
869 unsigned portBASE_TYPE uxReturn;
\r
871 taskENTER_CRITICAL();
\r
873 /* If null is passed in here then we are changing the
\r
874 priority of the calling function. */
\r
875 pxTCB = prvGetTCBFromHandle( pxTask );
\r
876 uxReturn = pxTCB->uxPriority;
\r
878 taskEXIT_CRITICAL();
\r
884 /*-----------------------------------------------------------*/
\r
886 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
888 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
891 unsigned portBASE_TYPE uxCurrentPriority;
\r
892 portBASE_TYPE xYieldRequired = pdFALSE;
\r
894 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
896 /* Ensure the new priority is valid. */
\r
897 if( uxNewPriority >= configMAX_PRIORITIES )
\r
899 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
902 taskENTER_CRITICAL();
\r
904 if( pxTask == pxCurrentTCB )
\r
909 /* If null is passed in here then we are changing the
\r
910 priority of the calling function. */
\r
911 pxTCB = prvGetTCBFromHandle( pxTask );
\r
913 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
915 #if ( configUSE_MUTEXES == 1 )
\r
917 uxCurrentPriority = pxTCB->uxBasePriority;
\r
921 uxCurrentPriority = pxTCB->uxPriority;
\r
925 if( uxCurrentPriority != uxNewPriority )
\r
927 /* The priority change may have readied a task of higher
\r
928 priority than the calling task. */
\r
929 if( uxNewPriority > uxCurrentPriority )
\r
931 if( pxTask != NULL )
\r
933 /* The priority of another task is being raised. If we
\r
934 were raising the priority of the currently running task
\r
935 there would be no need to switch as it must have already
\r
936 been the highest priority task. */
\r
937 xYieldRequired = pdTRUE;
\r
940 else if( pxTask == NULL )
\r
942 /* Setting our own priority down means there may now be another
\r
943 task of higher priority that is ready to execute. */
\r
944 xYieldRequired = pdTRUE;
\r
949 #if ( configUSE_MUTEXES == 1 )
\r
951 /* Only change the priority being used if the task is not
\r
952 currently using an inherited priority. */
\r
953 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
955 pxTCB->uxPriority = uxNewPriority;
\r
958 /* The base priority gets set whatever. */
\r
959 pxTCB->uxBasePriority = uxNewPriority;
\r
963 pxTCB->uxPriority = uxNewPriority;
\r
967 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
969 /* If the task is in the blocked or suspended list we need do
\r
970 nothing more than change it's priority variable. However, if
\r
971 the task is in a ready list it needs to be removed and placed
\r
972 in the queue appropriate to its new priority. */
\r
973 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
975 /* The task is currently in its ready list - remove before adding
\r
976 it to it's new ready list. As we are in a critical section we
\r
977 can do this even if the scheduler is suspended. */
\r
978 vListRemove( &( pxTCB->xGenericListItem ) );
\r
979 taskCHECK_READY_LIST( uxCurrentPriority );
\r
980 prvAddTaskToReadyQueue( pxTCB );
\r
983 if( xYieldRequired == pdTRUE )
\r
985 portYIELD_WITHIN_API();
\r
989 taskEXIT_CRITICAL();
\r
993 /*-----------------------------------------------------------*/
\r
995 #if ( INCLUDE_vTaskSuspend == 1 )
\r
997 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
1001 taskENTER_CRITICAL();
\r
1003 /* Ensure a yield is performed if the current task is being
\r
1005 if( pxTaskToSuspend == pxCurrentTCB )
\r
1007 pxTaskToSuspend = NULL;
\r
1010 /* If null is passed in here then we are suspending ourselves. */
\r
1011 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
1013 traceTASK_SUSPEND( pxTCB );
\r
1015 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
1016 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1017 taskCHECK_READY_LIST( pxTCB->uxPriority );
\r
1019 /* Is the task waiting on an event also? */
\r
1020 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
1022 vListRemove( &( pxTCB->xEventListItem ) );
\r
1025 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1027 taskEXIT_CRITICAL();
\r
1029 if( ( void * ) pxTaskToSuspend == NULL )
\r
1031 if( xSchedulerRunning != pdFALSE )
\r
1033 /* We have just suspended the current task. */
\r
1034 portYIELD_WITHIN_API();
\r
1038 /* The scheduler is not running, but the task that was pointed
\r
1039 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1040 must be adjusted to point to a different task. */
\r
1041 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1043 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1044 NULL so when the next task is created pxCurrentTCB will
\r
1045 be set to point to it no matter what its relative priority
\r
1047 pxCurrentTCB = NULL;
\r
1051 vTaskSwitchContext();
\r
1058 /*-----------------------------------------------------------*/
\r
1060 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1062 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
1064 portBASE_TYPE xReturn = pdFALSE;
\r
1065 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1067 /* It does not make sense to check if the calling task is suspended. */
\r
1068 configASSERT( xTask );
\r
1070 /* Is the task we are attempting to resume actually in the
\r
1071 suspended list? */
\r
1072 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1074 /* Has the task already been resumed from within an ISR? */
\r
1075 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
1077 /* Is it in the suspended list because it is in the
\r
1078 Suspended state? It is possible to be in the suspended
\r
1079 list because it is blocked on a task with no timeout
\r
1081 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
1092 /*-----------------------------------------------------------*/
\r
1094 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1096 void vTaskResume( xTaskHandle pxTaskToResume )
\r
1100 /* It does not make sense to resume the calling task. */
\r
1101 configASSERT( pxTaskToResume );
\r
1103 /* Remove the task from whichever list it is currently in, and place
\r
1104 it in the ready list. */
\r
1105 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1107 /* The parameter cannot be NULL as it is impossible to resume the
\r
1108 currently executing task. */
\r
1109 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1111 taskENTER_CRITICAL();
\r
1113 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1115 traceTASK_RESUME( pxTCB );
\r
1117 /* As we are in a critical section we can access the ready
\r
1118 lists even if the scheduler is suspended. */
\r
1119 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1120 prvAddTaskToReadyQueue( pxTCB );
\r
1122 /* We may have just resumed a higher priority task. */
\r
1123 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1125 /* This yield may not cause the task just resumed to run, but
\r
1126 will leave the lists in the correct state for the next yield. */
\r
1127 portYIELD_WITHIN_API();
\r
1131 taskEXIT_CRITICAL();
\r
1137 /*-----------------------------------------------------------*/
\r
1139 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1141 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
1143 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1145 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1147 configASSERT( pxTaskToResume );
\r
1149 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1151 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1153 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1155 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1157 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1159 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1160 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1161 prvAddTaskToReadyQueue( pxTCB );
\r
1165 /* We cannot access the delayed or ready lists, so will hold this
\r
1166 task pending until the scheduler is resumed, at which point a
\r
1167 yield will be performed if necessary. */
\r
1168 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1172 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1174 return xYieldRequired;
\r
1182 /*-----------------------------------------------------------
\r
1183 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1184 *----------------------------------------------------------*/
\r
1187 void vTaskStartScheduler( void )
\r
1189 portBASE_TYPE xReturn;
\r
1191 /* Add the idle task at the lowest priority. */
\r
1192 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1194 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1195 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1196 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );
\r
1200 /* Create the idle task without storing its handle. */
\r
1201 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
\r
1205 #if ( configUSE_TIMERS == 1 )
\r
1207 if( xReturn == pdPASS )
\r
1209 xReturn = xTimerCreateTimerTask();
\r
1214 if( xReturn == pdPASS )
\r
1216 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1217 before or during the call to xPortStartScheduler(). The stacks of
\r
1218 the created tasks contain a status word with interrupts switched on
\r
1219 so interrupts will automatically get re-enabled when the first task
\r
1222 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1223 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1224 portDISABLE_INTERRUPTS();
\r
1226 xSchedulerRunning = pdTRUE;
\r
1227 xTickCount = ( portTickType ) 0U;
\r
1229 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1230 macro must be defined to configure the timer/counter used to generate
\r
1231 the run time counter time base. */
\r
1232 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1234 /* Setting up the timer tick is hardware specific and thus in the
\r
1235 portable interface. */
\r
1236 if( xPortStartScheduler() != pdFALSE )
\r
1238 /* Should not reach here as if the scheduler is running the
\r
1239 function will not return. */
\r
1243 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1247 /* This line will only be reached if the kernel could not be started. */
\r
1248 configASSERT( xReturn );
\r
1250 /*-----------------------------------------------------------*/
\r
1252 void vTaskEndScheduler( void )
\r
1254 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1255 routine so the original ISRs can be restored if necessary. The port
\r
1256 layer must ensure interrupts enable bit is left in the correct state. */
\r
1257 portDISABLE_INTERRUPTS();
\r
1258 xSchedulerRunning = pdFALSE;
\r
1259 vPortEndScheduler();
\r
1261 /*----------------------------------------------------------*/
\r
1263 void vTaskSuspendAll( void )
\r
1265 /* A critical section is not required as the variable is of type
\r
1267 ++uxSchedulerSuspended;
\r
1269 /*----------------------------------------------------------*/
\r
1271 signed portBASE_TYPE xTaskResumeAll( void )
\r
1273 register tskTCB *pxTCB;
\r
1274 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1276 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1277 previous call to vTaskSuspendAll(). */
\r
1278 configASSERT( uxSchedulerSuspended );
\r
1280 /* It is possible that an ISR caused a task to be removed from an event
\r
1281 list while the scheduler was suspended. If this was the case then the
\r
1282 removed task will have been added to the xPendingReadyList. Once the
\r
1283 scheduler has been resumed it is safe to move all the pending ready
\r
1284 tasks from this list into their appropriate ready list. */
\r
1285 taskENTER_CRITICAL();
\r
1287 --uxSchedulerSuspended;
\r
1289 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1291 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1293 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1295 /* Move any readied tasks from the pending list into the
\r
1296 appropriate ready list. */
\r
1297 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1299 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1300 vListRemove( &( pxTCB->xEventListItem ) );
\r
1301 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1302 prvAddTaskToReadyQueue( pxTCB );
\r
1304 /* If we have moved a task that has a priority higher than
\r
1305 the current task then we should yield. */
\r
1306 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1308 xYieldRequired = pdTRUE;
\r
1312 /* If any ticks occurred while the scheduler was suspended then
\r
1313 they should be processed now. This ensures the tick count does not
\r
1314 slip, and that any delayed tasks are resumed at the correct time. */
\r
1315 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1317 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1319 vTaskIncrementTick();
\r
1323 /* As we have processed some ticks it is appropriate to yield
\r
1324 to ensure the highest priority task that is ready to run is
\r
1325 the task actually running. */
\r
1326 #if configUSE_PREEMPTION == 1
\r
1328 xYieldRequired = pdTRUE;
\r
1333 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1335 xAlreadyYielded = pdTRUE;
\r
1336 xMissedYield = pdFALSE;
\r
1337 portYIELD_WITHIN_API();
\r
1342 taskEXIT_CRITICAL();
\r
1344 return xAlreadyYielded;
\r
1352 /*-----------------------------------------------------------
\r
1353 * PUBLIC TASK UTILITIES documented in task.h
\r
1354 *----------------------------------------------------------*/
\r
1358 portTickType xTaskGetTickCount( void )
\r
1360 portTickType xTicks;
\r
1362 /* Critical section required if running on a 16 bit processor. */
\r
1363 taskENTER_CRITICAL();
\r
1365 xTicks = xTickCount;
\r
1367 taskEXIT_CRITICAL();
\r
1371 /*-----------------------------------------------------------*/
\r
1373 portTickType xTaskGetTickCountFromISR( void )
\r
1375 portTickType xReturn;
\r
1376 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1378 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1379 xReturn = xTickCount;
\r
1380 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1384 /*-----------------------------------------------------------*/
\r
1386 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1388 /* A critical section is not required because the variables are of type
\r
1390 return uxCurrentNumberOfTasks;
\r
1392 /*-----------------------------------------------------------*/
\r
1394 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1396 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1400 /* If null is passed in here then the name of the calling task is being queried. */
\r
1401 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1402 configASSERT( pxTCB );
\r
1403 return &( pxTCB->pcTaskName[ 0 ] );
\r
1407 /*-----------------------------------------------------------*/
\r
1409 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1411 void vTaskList( signed char *pcWriteBuffer )
\r
1413 unsigned portBASE_TYPE uxQueue;
\r
1415 /* This is a VERY costly function that should be used for debug only.
\r
1416 It leaves interrupts disabled for a LONG time. */
\r
1418 vTaskSuspendAll();
\r
1420 /* Run through all the lists that could potentially contain a TCB and
\r
1421 report the task name, state and stack high water mark. */
\r
1423 *pcWriteBuffer = ( signed char ) 0x00;
\r
1424 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1426 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1432 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1434 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1436 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1438 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1440 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1443 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1445 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1448 #if( INCLUDE_vTaskDelete == 1 )
\r
1450 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1452 prvListTaskWithinSingleList( pcWriteBuffer, &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1457 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1459 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1461 prvListTaskWithinSingleList( pcWriteBuffer, &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1470 /*----------------------------------------------------------*/
\r
1472 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1474 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1476 unsigned portBASE_TYPE uxQueue;
\r
1477 unsigned long ulTotalRunTime;
\r
1479 /* This is a VERY costly function that should be used for debug only.
\r
1480 It leaves interrupts disabled for a LONG time. */
\r
1482 vTaskSuspendAll();
\r
1484 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1485 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1487 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1490 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1491 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1492 ulTotalRunTime /= 100UL;
\r
1494 /* Run through all the lists that could potentially contain a TCB,
\r
1495 generating a table of run timer percentages in the provided
\r
1498 *pcWriteBuffer = ( signed char ) 0x00;
\r
1499 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1501 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1507 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1509 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
\r
1511 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1513 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1515 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
\r
1518 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1520 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
\r
1523 #if ( INCLUDE_vTaskDelete == 1 )
\r
1525 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1527 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTime );
\r
1532 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1534 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1536 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTime );
\r
1545 /*----------------------------------------------------------*/
\r
1547 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1549 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1551 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1552 started, then xIdleTaskHandle will be NULL. */
\r
1553 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1554 return xIdleTaskHandle;
\r
1559 /*-----------------------------------------------------------
\r
1560 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1561 * documented in task.h
\r
1562 *----------------------------------------------------------*/
\r
1564 void vTaskIncrementTick( void )
\r
1568 /* Called by the portable layer each time a tick interrupt occurs.
\r
1569 Increments the tick then checks to see if the new tick value will cause any
\r
1570 tasks to be unblocked. */
\r
1571 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1574 if( xTickCount == ( portTickType ) 0U )
\r
1578 /* Tick count has overflowed so we need to swap the delay lists.
\r
1579 If there are any items in pxDelayedTaskList here then there is
\r
1581 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );
\r
1583 pxTemp = pxDelayedTaskList;
\r
1584 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1585 pxOverflowDelayedTaskList = pxTemp;
\r
1586 xNumOfOverflows++;
\r
1588 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1590 /* The new current delayed list is empty. Set
\r
1591 xNextTaskUnblockTime to the maximum possible value so it is
\r
1592 extremely unlikely that the
\r
1593 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
1594 there is an item in the delayed list. */
\r
1595 xNextTaskUnblockTime = portMAX_DELAY;
\r
1599 /* The new current delayed list is not empty, get the value of
\r
1600 the item at the head of the delayed list. This is the time at
\r
1601 which the task at the head of the delayed list should be removed
\r
1602 from the Blocked state. */
\r
1603 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1604 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1608 /* See if this tick has made a timeout expire. */
\r
1609 prvCheckDelayedTasks();
\r
1615 /* The tick hook gets called at regular intervals, even if the
\r
1616 scheduler is locked. */
\r
1617 #if ( configUSE_TICK_HOOK == 1 )
\r
1619 vApplicationTickHook();
\r
1624 #if ( configUSE_TICK_HOOK == 1 )
\r
1626 /* Guard against the tick hook being called when the missed tick
\r
1627 count is being unwound (when the scheduler is being unlocked. */
\r
1628 if( uxMissedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1630 vApplicationTickHook();
\r
1635 traceTASK_INCREMENT_TICK( xTickCount );
\r
1637 /*-----------------------------------------------------------*/
\r
1639 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1641 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1645 /* If xTask is NULL then we are setting our own task hook. */
\r
1646 if( xTask == NULL )
\r
1648 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1652 xTCB = ( tskTCB * ) xTask;
\r
1655 /* Save the hook function in the TCB. A critical section is required as
\r
1656 the value can be accessed from an interrupt. */
\r
1657 taskENTER_CRITICAL();
\r
1658 xTCB->pxTaskTag = pxHookFunction;
\r
1659 taskEXIT_CRITICAL();
\r
1663 /*-----------------------------------------------------------*/
\r
1665 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1667 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1670 pdTASK_HOOK_CODE xReturn;
\r
1672 /* If xTask is NULL then we are setting our own task hook. */
\r
1673 if( xTask == NULL )
\r
1675 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1679 xTCB = ( tskTCB * ) xTask;
\r
1682 /* Save the hook function in the TCB. A critical section is required as
\r
1683 the value can be accessed from an interrupt. */
\r
1684 taskENTER_CRITICAL();
\r
1685 xReturn = xTCB->pxTaskTag;
\r
1686 taskEXIT_CRITICAL();
\r
1692 /*-----------------------------------------------------------*/
\r
1694 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1696 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1699 portBASE_TYPE xReturn;
\r
1701 /* If xTask is NULL then we are calling our own task hook. */
\r
1702 if( xTask == NULL )
\r
1704 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1708 xTCB = ( tskTCB * ) xTask;
\r
1711 if( xTCB->pxTaskTag != NULL )
\r
1713 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1724 /*-----------------------------------------------------------*/
\r
1726 void vTaskSwitchContext( void )
\r
1728 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1730 /* The scheduler is currently suspended - do not allow a context
\r
1732 xMissedYield = pdTRUE;
\r
1736 traceTASK_SWITCHED_OUT();
\r
1738 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1740 unsigned long ulTempCounter;
\r
1742 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1743 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter );
\r
1745 ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
\r
1748 /* Add the amount of time the task has been running to the accumulated
\r
1749 time so far. The time the task started running was stored in
\r
1750 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1751 so count values are only valid until the timer overflows. Generally
\r
1752 this will be about 1 hour assuming a 1uS timer increment. */
\r
1753 pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
\r
1754 ulTaskSwitchedInTime = ulTempCounter;
\r
1758 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1759 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1761 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
1763 traceTASK_SWITCHED_IN();
\r
1766 /*-----------------------------------------------------------*/
\r
1768 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1770 portTickType xTimeToWake;
\r
1772 configASSERT( pxEventList );
\r
1774 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1775 SCHEDULER SUSPENDED. */
\r
1777 /* Place the event list item of the TCB in the appropriate event list.
\r
1778 This is placed in the list in priority order so the highest priority task
\r
1779 is the first to be woken by the event. */
\r
1780 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1782 /* We must remove ourselves from the ready list before adding ourselves
\r
1783 to the blocked list as the same list item is used for both lists. We have
\r
1784 exclusive access to the ready lists as the scheduler is locked. */
\r
1785 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1786 taskCHECK_READY_LIST( pxCurrentTCB->uxPriority );
\r
1788 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1790 if( xTicksToWait == portMAX_DELAY )
\r
1792 /* Add ourselves to the suspended task list instead of a delayed task
\r
1793 list to ensure we are not woken by a timing event. We will block
\r
1795 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1799 /* Calculate the time at which the task should be woken if the event does
\r
1800 not occur. This may overflow but this doesn't matter. */
\r
1801 xTimeToWake = xTickCount + xTicksToWait;
\r
1802 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1807 /* Calculate the time at which the task should be woken if the event does
\r
1808 not occur. This may overflow but this doesn't matter. */
\r
1809 xTimeToWake = xTickCount + xTicksToWait;
\r
1810 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1814 /*-----------------------------------------------------------*/
\r
1816 #if configUSE_TIMERS == 1
\r
1818 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1820 portTickType xTimeToWake;
\r
1822 configASSERT( pxEventList );
\r
1824 /* This function should not be called by application code hence the
\r
1825 'Restricted' in its name. It is not part of the public API. It is
\r
1826 designed for use by kernel code, and has special calling requirements -
\r
1827 it should be called from a critical section. */
\r
1830 /* Place the event list item of the TCB in the appropriate event list.
\r
1831 In this case it is assume that this is the only task that is going to
\r
1832 be waiting on this event list, so the faster vListInsertEnd() function
\r
1833 can be used in place of vListInsert. */
\r
1834 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1836 /* We must remove this task from the ready list before adding it to the
\r
1837 blocked list as the same list item is used for both lists. This
\r
1838 function is called form a critical section. */
\r
1839 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1840 taskCHECK_READY_LIST( pxCurrentTCB->uxPriority );
\r
1842 /* Calculate the time at which the task should be woken if the event does
\r
1843 not occur. This may overflow but this doesn't matter. */
\r
1844 xTimeToWake = xTickCount + xTicksToWait;
\r
1845 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1848 #endif /* configUSE_TIMERS */
\r
1849 /*-----------------------------------------------------------*/
\r
1851 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1853 tskTCB *pxUnblockedTCB;
\r
1854 portBASE_TYPE xReturn;
\r
1856 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1857 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1859 /* The event list is sorted in priority order, so we can remove the
\r
1860 first in the list, remove the TCB from the delayed list, and add
\r
1861 it to the ready list.
\r
1863 If an event is for a queue that is locked then this function will never
\r
1864 get called - the lock count on the queue will get modified instead. This
\r
1865 means we can always expect exclusive access to the event list here.
\r
1867 This function assumes that a check has already been made to ensure that
\r
1868 pxEventList is not empty. */
\r
1869 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1870 configASSERT( pxUnblockedTCB );
\r
1871 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1873 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1875 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1876 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1880 /* We cannot access the delayed or ready lists, so will hold this
\r
1881 task pending until the scheduler is resumed. */
\r
1882 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1885 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1887 /* Return true if the task removed from the event list has
\r
1888 a higher priority than the calling task. This allows
\r
1889 the calling task to know if it should force a context
\r
1895 xReturn = pdFALSE;
\r
1900 /*-----------------------------------------------------------*/
\r
1902 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1904 configASSERT( pxTimeOut );
\r
1905 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1906 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1908 /*-----------------------------------------------------------*/
\r
1910 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1912 portBASE_TYPE xReturn;
\r
1914 configASSERT( pxTimeOut );
\r
1915 configASSERT( pxTicksToWait );
\r
1917 taskENTER_CRITICAL();
\r
1919 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1920 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1921 the maximum block time then the task should block indefinitely, and
\r
1922 therefore never time out. */
\r
1923 if( *pxTicksToWait == portMAX_DELAY )
\r
1925 xReturn = pdFALSE;
\r
1927 else /* We are not blocking indefinitely, perform the checks below. */
\r
1930 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
1932 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1933 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1934 It must have wrapped all the way around and gone past us again. This
\r
1935 passed since vTaskSetTimeout() was called. */
\r
1938 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
1940 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1941 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
1942 vTaskSetTimeOutState( pxTimeOut );
\r
1943 xReturn = pdFALSE;
\r
1950 taskEXIT_CRITICAL();
\r
1954 /*-----------------------------------------------------------*/
\r
1956 void vTaskMissedYield( void )
\r
1958 xMissedYield = pdTRUE;
\r
1960 /*-----------------------------------------------------------*/
\r
1962 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1963 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
1965 unsigned portBASE_TYPE uxReturn;
\r
1968 if( xTask != NULL )
\r
1970 pxTCB = ( tskTCB * ) xTask;
\r
1971 uxReturn = pxTCB->uxTaskNumber;
\r
1981 /*-----------------------------------------------------------*/
\r
1983 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1984 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
1988 if( xTask != NULL )
\r
1990 pxTCB = ( tskTCB * ) xTask;
\r
1991 pxTCB->uxTaskNumber = uxHandle;
\r
1998 * -----------------------------------------------------------
\r
2000 * ----------------------------------------------------------
\r
2002 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2003 * language extensions. The equivalent prototype for this function is:
\r
2005 * void prvIdleTask( void *pvParameters );
\r
2008 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2010 /* Stop warnings. */
\r
2011 ( void ) pvParameters;
\r
2015 /* See if any tasks have been deleted. */
\r
2016 prvCheckTasksWaitingTermination();
\r
2018 #if ( configUSE_PREEMPTION == 0 )
\r
2020 /* If we are not using preemption we keep forcing a task switch to
\r
2021 see if any other task has become available. If we are using
\r
2022 preemption we don't need to do this as any task becoming available
\r
2023 will automatically get the processor anyway. */
\r
2028 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2030 /* When using preemption tasks of equal priority will be
\r
2031 timesliced. If a task that is sharing the idle priority is ready
\r
2032 to run then the idle task should yield before the end of the
\r
2035 A critical region is not required here as we are just reading from
\r
2036 the list, and an occasional incorrect value will not matter. If
\r
2037 the ready list at the idle priority contains more than one task
\r
2038 then a task other than the idle task is ready to execute. */
\r
2039 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2046 #if ( configUSE_IDLE_HOOK == 1 )
\r
2048 extern void vApplicationIdleHook( void );
\r
2050 /* Call the user defined function from within the idle task. This
\r
2051 allows the application designer to add background functionality
\r
2052 without the overhead of a separate task.
\r
2053 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2054 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2055 vApplicationIdleHook();
\r
2059 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
2067 /*-----------------------------------------------------------
\r
2068 * File private functions documented at the top of the file.
\r
2069 *----------------------------------------------------------*/
\r
2073 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2075 /* Store the function name in the TCB. */
\r
2076 #if configMAX_TASK_NAME_LEN > 1
\r
2078 /* Don't bring strncpy into the build unnecessarily. */
\r
2079 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
2082 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
\r
2084 /* This is used as an array index so must ensure it's not too large. First
\r
2085 remove the privilege bit if one is present. */
\r
2086 if( uxPriority >= configMAX_PRIORITIES )
\r
2088 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2091 pxTCB->uxPriority = uxPriority;
\r
2092 #if ( configUSE_MUTEXES == 1 )
\r
2094 pxTCB->uxBasePriority = uxPriority;
\r
2098 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2099 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2101 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2102 back to the containing TCB from a generic item in a list. */
\r
2103 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2105 /* Event lists are always in priority order. */
\r
2106 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
2107 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2109 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2111 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2115 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2117 pxTCB->pxTaskTag = NULL;
\r
2121 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2123 pxTCB->ulRunTimeCounter = 0UL;
\r
2127 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2129 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2133 ( void ) xRegions;
\r
2134 ( void ) usStackDepth;
\r
2138 /*-----------------------------------------------------------*/
\r
2140 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2142 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2146 if( xTaskToModify == pxCurrentTCB )
\r
2148 xTaskToModify = NULL;
\r
2151 /* If null is passed in here then we are deleting ourselves. */
\r
2152 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2154 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2156 /*-----------------------------------------------------------*/
\r
2159 static void prvInitialiseTaskLists( void )
\r
2161 unsigned portBASE_TYPE uxPriority;
\r
2163 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2165 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2168 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2169 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2170 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2172 #if ( INCLUDE_vTaskDelete == 1 )
\r
2174 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2178 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2180 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2184 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2186 pxDelayedTaskList = &xDelayedTaskList1;
\r
2187 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2189 /*-----------------------------------------------------------*/
\r
2191 static void prvCheckTasksWaitingTermination( void )
\r
2193 #if ( INCLUDE_vTaskDelete == 1 )
\r
2195 portBASE_TYPE xListIsEmpty;
\r
2197 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2198 too often in the idle task. */
\r
2199 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2201 vTaskSuspendAll();
\r
2202 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2205 if( xListIsEmpty == pdFALSE )
\r
2209 taskENTER_CRITICAL();
\r
2211 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2212 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2213 --uxCurrentNumberOfTasks;
\r
2216 taskEXIT_CRITICAL();
\r
2218 prvDeleteTCB( pxTCB );
\r
2224 /*-----------------------------------------------------------*/
\r
2226 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2228 /* The list item will be inserted in wake time order. */
\r
2229 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2231 if( xTimeToWake < xTickCount )
\r
2233 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2234 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2238 /* The wake time has not overflowed, so we can use the current block list. */
\r
2239 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2241 /* If the task entering the blocked state was placed at the head of the
\r
2242 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2244 if( xTimeToWake < xNextTaskUnblockTime )
\r
2246 xNextTaskUnblockTime = xTimeToWake;
\r
2250 /*-----------------------------------------------------------*/
\r
2252 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2256 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2257 the implementation of the port malloc function. */
\r
2258 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2260 if( pxNewTCB != NULL )
\r
2262 /* Allocate space for the stack used by the task being created.
\r
2263 The base of the stack memory stored in the TCB so the task can
\r
2264 be deleted later if required. */
\r
2265 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2267 if( pxNewTCB->pxStack == NULL )
\r
2269 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2270 vPortFree( pxNewTCB );
\r
2275 /* Just to help debugging. */
\r
2276 memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2282 /*-----------------------------------------------------------*/
\r
2284 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2286 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2288 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2289 unsigned short usStackRemaining;
\r
2290 PRIVILEGED_DATA static char pcStatusString[ configMAX_TASK_NAME_LEN + 30 ];
\r
2292 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2293 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2296 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2297 #if ( portSTACK_GROWTH > 0 )
\r
2299 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2303 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2307 sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
\r
2308 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2310 } while( pxNextTCB != pxFirstTCB );
\r
2314 /*-----------------------------------------------------------*/
\r
2316 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2318 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
\r
2320 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2321 unsigned long ulStatsAsPercentage;
\r
2323 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2324 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2327 /* Get next TCB in from the list. */
\r
2328 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2330 /* Divide by zero check. */
\r
2331 if( ulTotalRunTime > 0UL )
\r
2333 /* Has the task run at all? */
\r
2334 if( pxNextTCB->ulRunTimeCounter == 0UL )
\r
2336 /* The task has used no CPU time at all. */
\r
2337 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2341 /* What percentage of the total run time has the task used?
\r
2342 This will always be rounded down to the nearest integer.
\r
2343 ulTotalRunTime has already been divided by 100. */
\r
2344 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime;
\r
2346 if( ulStatsAsPercentage > 0UL )
\r
2348 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2350 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2354 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2355 printf() library can be used. */
\r
2356 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2362 /* If the percentage is zero here then the task has
\r
2363 consumed less than 1% of the total run time. */
\r
2364 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2366 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2370 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2371 printf() library can be used. */
\r
2372 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2378 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2381 } while( pxNextTCB != pxFirstTCB );
\r
2385 /*-----------------------------------------------------------*/
\r
2387 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2389 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2391 register unsigned short usCount = 0U;
\r
2393 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2395 pucStackByte -= portSTACK_GROWTH;
\r
2399 usCount /= sizeof( portSTACK_TYPE );
\r
2405 /*-----------------------------------------------------------*/
\r
2407 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2409 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2412 unsigned char *pcEndOfStack;
\r
2413 unsigned portBASE_TYPE uxReturn;
\r
2415 pxTCB = prvGetTCBFromHandle( xTask );
\r
2417 #if portSTACK_GROWTH < 0
\r
2419 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2423 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2427 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2433 /*-----------------------------------------------------------*/
\r
2435 #if ( INCLUDE_vTaskDelete == 1 )
\r
2437 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2439 /* This call is required specifically for the TriCore port. It must be
\r
2440 above the vPortFree() calls. The call is also used by ports/demos that
\r
2441 want to allocate and clean RAM statically. */
\r
2442 portCLEAN_UP_TCB( pxTCB );
\r
2444 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2445 the task to free any memory allocated at the application level. */
\r
2446 vPortFreeAligned( pxTCB->pxStack );
\r
2447 vPortFree( pxTCB );
\r
2453 /*-----------------------------------------------------------*/
\r
2455 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2457 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2459 xTaskHandle xReturn;
\r
2461 /* A critical section is not required as this is not called from
\r
2462 an interrupt and the current TCB will always be the same for any
\r
2463 individual execution thread. */
\r
2464 xReturn = pxCurrentTCB;
\r
2471 /*-----------------------------------------------------------*/
\r
2473 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2475 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2477 portBASE_TYPE xReturn;
\r
2479 if( xSchedulerRunning == pdFALSE )
\r
2481 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2485 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2487 xReturn = taskSCHEDULER_RUNNING;
\r
2491 xReturn = taskSCHEDULER_SUSPENDED;
\r
2499 /*-----------------------------------------------------------*/
\r
2501 #if ( configUSE_MUTEXES == 1 )
\r
2503 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2505 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2507 /* If the mutex was given back by an interrupt while the queue was
\r
2508 locked then the mutex holder might now be NULL. */
\r
2509 if( pxMutexHolder != NULL )
\r
2511 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2513 /* Adjust the mutex holder state to account for its new priority. */
\r
2514 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2516 /* If the task being modified is in the ready state it will need to
\r
2517 be moved in to a new list. */
\r
2518 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2520 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2521 taskCHECK_READY_LIST( pxTCB->uxPriority );
\r
2523 /* Inherit the priority before being moved into the new list. */
\r
2524 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2525 prvAddTaskToReadyQueue( pxTCB );
\r
2529 /* Just inherit the priority. */
\r
2530 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2533 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2539 /*-----------------------------------------------------------*/
\r
2541 #if ( configUSE_MUTEXES == 1 )
\r
2543 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2545 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2547 if( pxMutexHolder != NULL )
\r
2549 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2551 /* We must be the running task to be able to give the mutex back.
\r
2552 Remove ourselves from the ready list we currently appear in. */
\r
2553 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2554 taskCHECK_READY_LIST( pxTCB->uxPriority );
\r
2556 /* Disinherit the priority before adding the task into the new
\r
2558 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2559 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2560 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2561 prvAddTaskToReadyQueue( pxTCB );
\r
2567 /*-----------------------------------------------------------*/
\r
2569 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2571 void vTaskEnterCritical( void )
\r
2573 portDISABLE_INTERRUPTS();
\r
2575 if( xSchedulerRunning != pdFALSE )
\r
2577 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2582 /*-----------------------------------------------------------*/
\r
2584 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2586 void vTaskExitCritical( void )
\r
2588 if( xSchedulerRunning != pdFALSE )
\r
2590 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2592 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2594 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2596 portENABLE_INTERRUPTS();
\r
2603 /*-----------------------------------------------------------*/
\r
projects / freertos / blob