2 FreeRTOS V7.4.2 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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75 /* Standard includes. */
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80 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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81 all the API functions to use the MPU wrappers. That should only be done when
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82 task.h is included from an application file. */
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83 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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85 /* FreeRTOS includes. */
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86 #include "FreeRTOS.h"
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89 #include "StackMacros.h"
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91 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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93 /* Sanity check the configuration. */
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94 #if configUSE_TICKLESS_IDLE != 0
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95 #if INCLUDE_vTaskSuspend != 1
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96 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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97 #endif /* INCLUDE_vTaskSuspend */
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98 #endif /* configUSE_TICKLESS_IDLE */
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101 * Defines the size, in words, of the stack allocated to the idle task.
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103 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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106 * Task control block. A task control block (TCB) is allocated for each task,
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107 * and stores task state information, including a pointer to the task's context
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108 * (the task's run time environment, including register values)
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110 typedef struct tskTaskControlBlock
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112 volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
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114 #if ( portUSING_MPU_WRAPPERS == 1 )
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115 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
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118 xListItem xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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119 xListItem xEventListItem; /*< Used to reference a task from an event list. */
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120 unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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121 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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122 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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124 #if ( portSTACK_GROWTH > 0 )
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125 portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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128 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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129 unsigned portBASE_TYPE uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
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132 #if ( configUSE_TRACE_FACILITY == 1 )
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133 unsigned portBASE_TYPE uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
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134 unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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137 #if ( configUSE_MUTEXES == 1 )
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138 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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141 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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142 pdTASK_HOOK_CODE pxTaskTag;
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145 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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146 unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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149 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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150 /* Allocate a Newlib reent structure that is specific to this task.
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151 Note Newlib support has been included by popular demand, but is not
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152 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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153 responsible for resulting newlib operation. User must be familiar with
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154 newlib and must provide system-wide implementations of the necessary
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155 stubs. Be warned that (at the time of writing) the current newlib design
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156 implements a system-wide malloc() that must be provided with locks. */
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157 struct _reent xNewLib_reent;
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164 * Some kernel aware debuggers require the data the debugger needs access to to
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165 * be global, rather than file scope.
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167 #ifdef portREMOVE_STATIC_QUALIFIER
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172 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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174 /* Lists for ready and blocked tasks. --------------------*/
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175 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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176 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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177 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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178 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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179 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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180 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
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182 #if ( INCLUDE_vTaskDelete == 1 )
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184 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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185 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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189 #if ( INCLUDE_vTaskSuspend == 1 )
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191 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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195 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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197 PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
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201 /* File private variables. --------------------------------*/
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202 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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203 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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204 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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205 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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206 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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207 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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208 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxPendedTicks = ( unsigned portBASE_TYPE ) 0U;
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209 PRIVILEGED_DATA static volatile portBASE_TYPE xYieldPending = ( portBASE_TYPE ) pdFALSE;
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210 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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211 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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212 PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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214 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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216 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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217 PRIVILEGED_DATA static unsigned long ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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221 /* Debugging and trace facilities private variables and macros. ------------*/
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224 * The value used to fill the stack of a task when the task is created. This
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225 * is used purely for checking the high water mark for tasks.
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227 #define tskSTACK_FILL_BYTE ( 0xa5U )
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230 * Macros used by vListTask to indicate which state a task is in.
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232 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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233 #define tskREADY_CHAR ( ( signed char ) 'R' )
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234 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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235 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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237 /*-----------------------------------------------------------*/
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239 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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241 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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242 performed in a generic way that is not optimised to any particular
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243 microcontroller architecture. */
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245 /* uxTopReadyPriority holds the priority of the highest priority ready
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247 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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249 if( ( uxPriority ) > uxTopReadyPriority ) \
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251 uxTopReadyPriority = ( uxPriority ); \
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253 } /* taskRECORD_READY_PRIORITY */
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255 /*-----------------------------------------------------------*/
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257 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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259 /* Find the highest priority queue that contains ready tasks. */ \
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260 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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262 configASSERT( uxTopReadyPriority ); \
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263 --uxTopReadyPriority; \
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266 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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267 the same priority get an equal share of the processor time. */ \
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268 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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269 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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271 /*-----------------------------------------------------------*/
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273 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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274 they are only required when a port optimised method of task selection is
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276 #define taskRESET_READY_PRIORITY( uxPriority )
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277 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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279 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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281 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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282 performed in a way that is tailored to the particular microcontroller
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283 architecture being used. */
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285 /* A port optimised version is provided. Call the port defined macros. */
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286 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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288 /*-----------------------------------------------------------*/
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290 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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292 unsigned portBASE_TYPE uxTopPriority; \
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294 /* Find the highest priority queue that contains ready tasks. */ \
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295 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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296 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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297 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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298 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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300 /*-----------------------------------------------------------*/
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302 /* A port optimised version is provided, call it only if the TCB being reset
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303 is being referenced from a ready list. If it is referenced from a delayed
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304 or suspended list then it won't be in a ready list. */
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305 #define taskRESET_READY_PRIORITY( uxPriority ) \
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307 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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309 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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313 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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315 /*-----------------------------------------------------------*/
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317 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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318 count overflows. */
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319 #define taskSWITCH_DELAYED_LISTS() \
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323 /* The delayed tasks list should be empty when the lists are switched. */ \
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324 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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326 pxTemp = pxDelayedTaskList; \
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327 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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328 pxOverflowDelayedTaskList = pxTemp; \
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329 xNumOfOverflows++; \
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331 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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333 /* The new current delayed list is empty. Set \
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334 xNextTaskUnblockTime to the maximum possible value so it is \
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335 extremely unlikely that the \
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336 if( xTickCount >= xNextTaskUnblockTime ) test will pass until \
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337 there is an item in the delayed list. */ \
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338 xNextTaskUnblockTime = portMAX_DELAY; \
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342 /* The new current delayed list is not empty, get the value of \
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343 the item at the head of the delayed list. This is the time at \
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344 which the task at the head of the delayed list should be removed \
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345 from the Blocked state. */ \
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346 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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347 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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351 /*-----------------------------------------------------------*/
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354 * Place the task represented by pxTCB into the appropriate ready list for
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355 * the task. It is inserted at the end of the list.
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357 #define prvAddTaskToReadyList( pxTCB ) \
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358 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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359 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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360 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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361 /*-----------------------------------------------------------*/
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364 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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365 * where NULL is used to indicate that the handle of the currently executing
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366 * task should be used in place of the parameter. This macro simply checks to
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367 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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369 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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371 /* Callback function prototypes. --------------------------*/
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372 extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
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373 extern void vApplicationTickHook( void );
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375 /* File private functions. --------------------------------*/
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378 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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379 * into the TCB structure.
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381 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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384 * Utility to ready all the lists used by the scheduler. This is called
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385 * automatically upon the creation of the first task.
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387 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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390 * The idle task, which as all tasks is implemented as a never ending loop.
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391 * The idle task is automatically created and added to the ready lists upon
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392 * creation of the first user task.
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394 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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395 * language extensions. The equivalent prototype for this function is:
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397 * void prvIdleTask( void *pvParameters );
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400 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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403 * Utility to free all memory allocated by the scheduler to hold a TCB,
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404 * including the stack pointed to by the TCB.
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406 * This does not free memory allocated by the task itself (i.e. memory
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407 * allocated by calls to pvPortMalloc from within the tasks application code).
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409 #if ( INCLUDE_vTaskDelete == 1 )
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411 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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416 * Used only by the idle task. This checks to see if anything has been placed
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417 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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418 * and its TCB deleted.
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420 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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423 * The currently executing task is entering the Blocked state. Add the task to
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424 * either the current or the overflow delayed task list.
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426 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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429 * Allocates memory from the heap for a TCB and associated stack. Checks the
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430 * allocation was successful.
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432 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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435 * Fills an xTaskStatusType structure with information on each task that is
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436 * referenced from the pxList list (which may be a ready list, a delayed list,
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437 * a suspended list, etc.).
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439 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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440 * NORMAL APPLICATION CODE.
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442 #if ( configUSE_TRACE_FACILITY == 1 )
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444 static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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449 * When a task is created, the stack of the task is filled with a known value.
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450 * This function determines the 'high water mark' of the task stack by
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451 * determining how much of the stack remains at the original preset value.
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453 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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455 static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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460 * Return the amount of time, in ticks, that will pass before the kernel will
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461 * next move a task from the Blocked state to the Running state.
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463 * This conditional compilation should use inequality to 0, not equality to 1.
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464 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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465 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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466 * set to a value other than 1.
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468 #if ( configUSE_TICKLESS_IDLE != 0 )
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470 static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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476 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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478 signed portBASE_TYPE xReturn;
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481 configASSERT( pxTaskCode );
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482 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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484 /* Allocate the memory required by the TCB and stack for the new task,
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485 checking that the allocation was successful. */
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486 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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488 if( pxNewTCB != NULL )
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490 portSTACK_TYPE *pxTopOfStack;
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492 #if( portUSING_MPU_WRAPPERS == 1 )
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493 /* Should the task be created in privileged mode? */
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494 portBASE_TYPE xRunPrivileged;
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495 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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497 xRunPrivileged = pdTRUE;
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501 xRunPrivileged = pdFALSE;
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503 uxPriority &= ~portPRIVILEGE_BIT;
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504 #endif /* portUSING_MPU_WRAPPERS == 1 */
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506 /* Calculate the top of stack address. This depends on whether the
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507 stack grows from high memory to low (as per the 80x86) or visa versa.
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508 portSTACK_GROWTH is used to make the result positive or negative as
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509 required by the port. */
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510 #if( portSTACK_GROWTH < 0 )
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512 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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513 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
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515 /* Check the alignment of the calculated top of stack is correct. */
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516 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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518 #else /* portSTACK_GROWTH */
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520 pxTopOfStack = pxNewTCB->pxStack;
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522 /* Check the alignment of the stack buffer is correct. */
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523 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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525 /* If we want to use stack checking on architectures that use
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526 a positive stack growth direction then we also need to store the
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527 other extreme of the stack space. */
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528 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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530 #endif /* portSTACK_GROWTH */
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532 /* Setup the newly allocated TCB with the initial state of the task. */
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533 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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535 /* Initialize the TCB stack to look as if the task was already running,
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536 but had been interrupted by the scheduler. The return address is set
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537 to the start of the task function. Once the stack has been initialised
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538 the top of stack variable is updated. */
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539 #if( portUSING_MPU_WRAPPERS == 1 )
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541 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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543 #else /* portUSING_MPU_WRAPPERS */
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545 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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547 #endif /* portUSING_MPU_WRAPPERS */
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549 if( ( void * ) pxCreatedTask != NULL )
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551 /* Pass the TCB out - in an anonymous way. The calling function/
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552 task can use this as a handle to delete the task later if
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554 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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557 /* Ensure interrupts don't access the task lists while they are being
\r
559 taskENTER_CRITICAL();
\r
561 uxCurrentNumberOfTasks++;
\r
562 if( pxCurrentTCB == NULL )
\r
564 /* There are no other tasks, or all the other tasks are in
\r
565 the suspended state - make this the current task. */
\r
566 pxCurrentTCB = pxNewTCB;
\r
568 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
570 /* This is the first task to be created so do the preliminary
\r
571 initialisation required. We will not recover if this call
\r
572 fails, but we will report the failure. */
\r
573 prvInitialiseTaskLists();
\r
578 /* If the scheduler is not already running, make this task the
\r
579 current task if it is the highest priority task to be created
\r
581 if( xSchedulerRunning == pdFALSE )
\r
583 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
585 pxCurrentTCB = pxNewTCB;
\r
590 /* Remember the top priority to make context switching faster. Use
\r
591 the priority in pxNewTCB as this has been capped to a valid value. */
\r
592 if( pxNewTCB->uxPriority > uxTopUsedPriority )
\r
594 uxTopUsedPriority = pxNewTCB->uxPriority;
\r
599 #if ( configUSE_TRACE_FACILITY == 1 )
\r
601 /* Add a counter into the TCB for tracing only. */
\r
602 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
604 #endif /* configUSE_TRACE_FACILITY */
\r
605 traceTASK_CREATE( pxNewTCB );
\r
607 prvAddTaskToReadyList( pxNewTCB );
\r
610 portSETUP_TCB( pxNewTCB );
\r
612 taskEXIT_CRITICAL();
\r
616 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
617 traceTASK_CREATE_FAILED();
\r
620 if( xReturn == pdPASS )
\r
622 if( xSchedulerRunning != pdFALSE )
\r
624 /* If the created task is of a higher priority than the current task
\r
625 then it should run now. */
\r
626 if( pxCurrentTCB->uxPriority < uxPriority )
\r
628 portYIELD_WITHIN_API();
\r
635 /*-----------------------------------------------------------*/
\r
637 #if ( INCLUDE_vTaskDelete == 1 )
\r
639 void vTaskDelete( xTaskHandle xTaskToDelete )
\r
643 taskENTER_CRITICAL();
\r
645 /* Ensure a yield is performed if the current task is being
\r
647 if( xTaskToDelete == pxCurrentTCB )
\r
649 xTaskToDelete = NULL;
\r
652 /* If null is passed in here then we are deleting ourselves. */
\r
653 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
655 /* Remove task from the ready list and place in the termination list.
\r
656 This will stop the task from be scheduled. The idle task will check
\r
657 the termination list and free up any memory allocated by the
\r
658 scheduler for the TCB and stack. */
\r
659 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
661 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
664 /* Is the task waiting on an event also? */
\r
665 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
667 uxListRemove( &( pxTCB->xEventListItem ) );
\r
670 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
672 /* Increment the ucTasksDeleted variable so the idle task knows
\r
673 there is a task that has been deleted and that it should therefore
\r
674 check the xTasksWaitingTermination list. */
\r
677 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
678 can detect that the task lists need re-generating. */
\r
681 traceTASK_DELETE( pxTCB );
\r
683 taskEXIT_CRITICAL();
\r
685 /* Force a reschedule if we have just deleted the current task. */
\r
686 if( xSchedulerRunning != pdFALSE )
\r
688 if( ( void * ) xTaskToDelete == NULL )
\r
690 portYIELD_WITHIN_API();
\r
695 #endif /* INCLUDE_vTaskDelete */
\r
696 /*-----------------------------------------------------------*/
\r
698 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
700 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
702 portTickType xTimeToWake;
\r
703 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
705 configASSERT( pxPreviousWakeTime );
\r
706 configASSERT( ( xTimeIncrement > 0U ) );
\r
710 /* Generate the tick time at which the task wants to wake. */
\r
711 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
713 if( xTickCount < *pxPreviousWakeTime )
\r
715 /* The tick count has overflowed since this function was
\r
716 lasted called. In this case the only time we should ever
\r
717 actually delay is if the wake time has also overflowed,
\r
718 and the wake time is greater than the tick time. When this
\r
719 is the case it is as if neither time had overflowed. */
\r
720 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
722 xShouldDelay = pdTRUE;
\r
727 /* The tick time has not overflowed. In this case we will
\r
728 delay if either the wake time has overflowed, and/or the
\r
729 tick time is less than the wake time. */
\r
730 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
732 xShouldDelay = pdTRUE;
\r
736 /* Update the wake time ready for the next call. */
\r
737 *pxPreviousWakeTime = xTimeToWake;
\r
739 if( xShouldDelay != pdFALSE )
\r
741 traceTASK_DELAY_UNTIL();
\r
743 /* We must remove ourselves from the ready list before adding
\r
744 ourselves to the blocked list as the same list item is used for
\r
746 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
748 /* The current task must be in a ready list, so there is
\r
749 no need to check, and the port reset macro can be called
\r
751 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
754 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
757 xAlreadyYielded = xTaskResumeAll();
\r
759 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
760 have put ourselves to sleep. */
\r
761 if( xAlreadyYielded == pdFALSE )
\r
763 portYIELD_WITHIN_API();
\r
767 #endif /* INCLUDE_vTaskDelayUntil */
\r
768 /*-----------------------------------------------------------*/
\r
770 #if ( INCLUDE_vTaskDelay == 1 )
\r
772 void vTaskDelay( portTickType xTicksToDelay )
\r
774 portTickType xTimeToWake;
\r
775 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
777 /* A delay time of zero just forces a reschedule. */
\r
778 if( xTicksToDelay > ( portTickType ) 0U )
\r
784 /* A task that is removed from the event list while the
\r
785 scheduler is suspended will not get placed in the ready
\r
786 list or removed from the blocked list until the scheduler
\r
789 This task cannot be in an event list as it is the currently
\r
792 /* Calculate the time to wake - this may overflow but this is
\r
794 xTimeToWake = xTickCount + xTicksToDelay;
\r
796 /* We must remove ourselves from the ready list before adding
\r
797 ourselves to the blocked list as the same list item is used for
\r
799 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
801 /* The current task must be in a ready list, so there is
\r
802 no need to check, and the port reset macro can be called
\r
804 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
806 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
808 xAlreadyYielded = xTaskResumeAll();
\r
811 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
812 have put ourselves to sleep. */
\r
813 if( xAlreadyYielded == pdFALSE )
\r
815 portYIELD_WITHIN_API();
\r
819 #endif /* INCLUDE_vTaskDelay */
\r
820 /*-----------------------------------------------------------*/
\r
822 #if ( INCLUDE_eTaskGetState == 1 )
\r
824 eTaskState eTaskGetState( xTaskHandle xTask )
\r
826 eTaskState eReturn;
\r
827 xList *pxStateList;
\r
830 pxTCB = ( tskTCB * ) xTask;
\r
832 if( pxTCB == pxCurrentTCB )
\r
834 /* The task calling this function is querying its own state. */
\r
835 eReturn = eRunning;
\r
839 taskENTER_CRITICAL();
\r
841 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
843 taskEXIT_CRITICAL();
\r
845 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
847 /* The task being queried is referenced from one of the Blocked
\r
849 eReturn = eBlocked;
\r
852 #if ( INCLUDE_vTaskSuspend == 1 )
\r
853 else if( pxStateList == &xSuspendedTaskList )
\r
855 /* The task being queried is referenced from the suspended
\r
857 eReturn = eSuspended;
\r
861 #if ( INCLUDE_vTaskDelete == 1 )
\r
862 else if( pxStateList == &xTasksWaitingTermination )
\r
864 /* The task being queried is referenced from the deleted
\r
866 eReturn = eDeleted;
\r
872 /* If the task is not in any other state, it must be in the
\r
873 Ready (including pending ready) state. */
\r
881 #endif /* INCLUDE_eTaskGetState */
\r
882 /*-----------------------------------------------------------*/
\r
884 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
886 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
\r
889 unsigned portBASE_TYPE uxReturn;
\r
891 taskENTER_CRITICAL();
\r
893 /* If null is passed in here then we are changing the
\r
894 priority of the calling function. */
\r
895 pxTCB = prvGetTCBFromHandle( xTask );
\r
896 uxReturn = pxTCB->uxPriority;
\r
898 taskEXIT_CRITICAL();
\r
903 #endif /* INCLUDE_uxTaskPriorityGet */
\r
904 /*-----------------------------------------------------------*/
\r
906 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
908 void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
\r
911 unsigned portBASE_TYPE uxCurrentPriority, uxPriorityUsedOnEntry;
\r
912 portBASE_TYPE xYieldRequired = pdFALSE;
\r
914 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
916 /* Ensure the new priority is valid. */
\r
917 if( uxNewPriority >= configMAX_PRIORITIES )
\r
919 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
922 taskENTER_CRITICAL();
\r
924 if( xTask == ( xTaskHandle ) pxCurrentTCB )
\r
929 /* If null is passed in here then we are changing the
\r
930 priority of the calling function. */
\r
931 pxTCB = prvGetTCBFromHandle( xTask );
\r
933 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
935 #if ( configUSE_MUTEXES == 1 )
\r
937 uxCurrentPriority = pxTCB->uxBasePriority;
\r
941 uxCurrentPriority = pxTCB->uxPriority;
\r
945 if( uxCurrentPriority != uxNewPriority )
\r
947 /* The priority change may have readied a task of higher
\r
948 priority than the calling task. */
\r
949 if( uxNewPriority > uxCurrentPriority )
\r
951 if( xTask != NULL )
\r
953 /* The priority of another task is being raised. If we
\r
954 were raising the priority of the currently running task
\r
955 there would be no need to switch as it must have already
\r
956 been the highest priority task. */
\r
957 xYieldRequired = pdTRUE;
\r
960 else if( xTask == NULL )
\r
962 /* Setting our own priority down means there may now be another
\r
963 task of higher priority that is ready to execute. */
\r
964 xYieldRequired = pdTRUE;
\r
967 /* Remember the ready list the task might be referenced from
\r
968 before its uxPriority member is changed so the
\r
969 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
970 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
972 #if ( configUSE_MUTEXES == 1 )
\r
974 /* Only change the priority being used if the task is not
\r
975 currently using an inherited priority. */
\r
976 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
978 pxTCB->uxPriority = uxNewPriority;
\r
981 /* The base priority gets set whatever. */
\r
982 pxTCB->uxBasePriority = uxNewPriority;
\r
986 pxTCB->uxPriority = uxNewPriority;
\r
990 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
992 /* If the task is in the blocked or suspended list we need do
\r
993 nothing more than change it's priority variable. However, if
\r
994 the task is in a ready list it needs to be removed and placed
\r
995 in the queue appropriate to its new priority. */
\r
996 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
998 /* The task is currently in its ready list - remove before adding
\r
999 it to it's new ready list. As we are in a critical section we
\r
1000 can do this even if the scheduler is suspended. */
\r
1001 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1003 taskRESET_READY_PRIORITY( uxPriorityUsedOnEntry );
\r
1005 prvAddTaskToReadyList( pxTCB );
\r
1008 if( xYieldRequired == pdTRUE )
\r
1010 portYIELD_WITHIN_API();
\r
1013 /* Remove compiler warning about unused variables when the port
\r
1014 optimised task selection is not being used. */
\r
1015 ( void ) uxPriorityUsedOnEntry;
\r
1018 taskEXIT_CRITICAL();
\r
1021 #endif /* INCLUDE_vTaskPrioritySet */
\r
1022 /*-----------------------------------------------------------*/
\r
1024 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1026 void vTaskSuspend( xTaskHandle xTaskToSuspend )
\r
1030 taskENTER_CRITICAL();
\r
1032 /* Ensure a yield is performed if the current task is being
\r
1034 if( xTaskToSuspend == ( xTaskHandle ) pxCurrentTCB )
\r
1036 xTaskToSuspend = NULL;
\r
1039 /* If null is passed in here then we are suspending ourselves. */
\r
1040 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1042 traceTASK_SUSPEND( pxTCB );
\r
1044 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
1045 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1047 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1050 /* Is the task waiting on an event also? */
\r
1051 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
1053 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1056 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1058 taskEXIT_CRITICAL();
\r
1060 if( ( void * ) xTaskToSuspend == NULL )
\r
1062 if( xSchedulerRunning != pdFALSE )
\r
1064 /* We have just suspended the current task. */
\r
1065 portYIELD_WITHIN_API();
\r
1069 /* The scheduler is not running, but the task that was pointed
\r
1070 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1071 must be adjusted to point to a different task. */
\r
1072 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1074 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1075 NULL so when the next task is created pxCurrentTCB will
\r
1076 be set to point to it no matter what its relative priority
\r
1078 pxCurrentTCB = NULL;
\r
1082 vTaskSwitchContext();
\r
1088 #endif /* INCLUDE_vTaskSuspend */
\r
1089 /*-----------------------------------------------------------*/
\r
1091 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1093 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
1095 portBASE_TYPE xReturn = pdFALSE;
\r
1096 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1098 /* It does not make sense to check if the calling task is suspended. */
\r
1099 configASSERT( xTask );
\r
1101 /* Is the task we are attempting to resume actually in the
\r
1102 suspended list? */
\r
1103 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1105 /* Has the task already been resumed from within an ISR? */
\r
1106 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
1108 /* Is it in the suspended list because it is in the
\r
1109 Suspended state? It is possible to be in the suspended
\r
1110 list because it is blocked on a task with no timeout
\r
1112 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
1122 #endif /* INCLUDE_vTaskSuspend */
\r
1123 /*-----------------------------------------------------------*/
\r
1125 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1127 void vTaskResume( xTaskHandle xTaskToResume )
\r
1131 /* It does not make sense to resume the calling task. */
\r
1132 configASSERT( xTaskToResume );
\r
1134 /* Remove the task from whichever list it is currently in, and place
\r
1135 it in the ready list. */
\r
1136 pxTCB = ( tskTCB * ) xTaskToResume;
\r
1138 /* The parameter cannot be NULL as it is impossible to resume the
\r
1139 currently executing task. */
\r
1140 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1142 taskENTER_CRITICAL();
\r
1144 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1146 traceTASK_RESUME( pxTCB );
\r
1148 /* As we are in a critical section we can access the ready
\r
1149 lists even if the scheduler is suspended. */
\r
1150 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1151 prvAddTaskToReadyList( pxTCB );
\r
1153 /* We may have just resumed a higher priority task. */
\r
1154 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1156 /* This yield may not cause the task just resumed to run, but
\r
1157 will leave the lists in the correct state for the next yield. */
\r
1158 portYIELD_WITHIN_API();
\r
1162 taskEXIT_CRITICAL();
\r
1166 #endif /* INCLUDE_vTaskSuspend */
\r
1168 /*-----------------------------------------------------------*/
\r
1170 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1172 portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
\r
1174 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1176 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1178 configASSERT( xTaskToResume );
\r
1180 /* RTOS ports that support interrupt nesting have the concept of a
\r
1181 maximum system call (or maximum API call) interrupt priority.
\r
1182 Interrupts that are above the maximum system call priority are keep
\r
1183 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1184 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1185 is defined in FreeRTOSConfig.h then
\r
1186 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1187 failure if a FreeRTOS API function is called from an interrupt that has
\r
1188 been assigned a priority above the configured maximum system call
\r
1189 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1190 from interrupts that have been assigned a priority at or (logically)
\r
1191 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1192 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1193 simple as possible. More information (albeit Cortex-M specific) is
\r
1194 provided on the following link:
\r
1195 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1196 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1198 pxTCB = ( tskTCB * ) xTaskToResume;
\r
1200 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1202 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1204 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1206 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1208 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1209 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1210 prvAddTaskToReadyList( pxTCB );
\r
1214 /* We cannot access the delayed or ready lists, so will hold this
\r
1215 task pending until the scheduler is resumed, at which point a
\r
1216 yield will be performed if necessary. */
\r
1217 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1221 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1223 return xYieldRequired;
\r
1226 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1227 /*-----------------------------------------------------------*/
\r
1229 void vTaskStartScheduler( void )
\r
1231 portBASE_TYPE xReturn;
\r
1233 /* Add the idle task at the lowest priority. */
\r
1234 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1236 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1237 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1238 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );
\r
1242 /* Create the idle task without storing its handle. */
\r
1243 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
\r
1245 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1247 #if ( configUSE_TIMERS == 1 )
\r
1249 if( xReturn == pdPASS )
\r
1251 xReturn = xTimerCreateTimerTask();
\r
1254 #endif /* configUSE_TIMERS */
\r
1256 if( xReturn == pdPASS )
\r
1258 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1259 before or during the call to xPortStartScheduler(). The stacks of
\r
1260 the created tasks contain a status word with interrupts switched on
\r
1261 so interrupts will automatically get re-enabled when the first task
\r
1264 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1265 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1266 portDISABLE_INTERRUPTS();
\r
1268 xSchedulerRunning = pdTRUE;
\r
1269 xTickCount = ( portTickType ) 0U;
\r
1271 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1272 macro must be defined to configure the timer/counter used to generate
\r
1273 the run time counter time base. */
\r
1274 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1276 /* Setting up the timer tick is hardware specific and thus in the
\r
1277 portable interface. */
\r
1278 if( xPortStartScheduler() != pdFALSE )
\r
1280 /* Should not reach here as if the scheduler is running the
\r
1281 function will not return. */
\r
1285 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1290 /* This line will only be reached if the kernel could not be started,
\r
1291 because there was not enough FreeRTOS heap to create the idle task
\r
1292 or the timer task. */
\r
1293 configASSERT( xReturn );
\r
1296 /*-----------------------------------------------------------*/
\r
1298 void vTaskEndScheduler( void )
\r
1300 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1301 routine so the original ISRs can be restored if necessary. The port
\r
1302 layer must ensure interrupts enable bit is left in the correct state. */
\r
1303 portDISABLE_INTERRUPTS();
\r
1304 xSchedulerRunning = pdFALSE;
\r
1305 vPortEndScheduler();
\r
1307 /*----------------------------------------------------------*/
\r
1309 void vTaskSuspendAll( void )
\r
1311 /* A critical section is not required as the variable is of type
\r
1313 ++uxSchedulerSuspended;
\r
1315 /*----------------------------------------------------------*/
\r
1317 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1319 static portTickType prvGetExpectedIdleTime( void )
\r
1321 portTickType xReturn;
\r
1323 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1327 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1329 /* There are other idle priority tasks in the ready state. If
\r
1330 time slicing is used then the very next tick interrupt must be
\r
1336 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1342 #endif /* configUSE_TICKLESS_IDLE */
\r
1343 /*----------------------------------------------------------*/
\r
1345 signed portBASE_TYPE xTaskResumeAll( void )
\r
1347 register tskTCB *pxTCB;
\r
1348 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1349 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1351 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1352 previous call to vTaskSuspendAll(). */
\r
1353 configASSERT( uxSchedulerSuspended );
\r
1355 /* It is possible that an ISR caused a task to be removed from an event
\r
1356 list while the scheduler was suspended. If this was the case then the
\r
1357 removed task will have been added to the xPendingReadyList. Once the
\r
1358 scheduler has been resumed it is safe to move all the pending ready
\r
1359 tasks from this list into their appropriate ready list. */
\r
1360 taskENTER_CRITICAL();
\r
1362 --uxSchedulerSuspended;
\r
1364 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1366 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1368 /* Move any readied tasks from the pending list into the
\r
1369 appropriate ready list. */
\r
1370 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1372 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1373 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1374 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1375 prvAddTaskToReadyList( pxTCB );
\r
1377 /* If we have moved a task that has a priority higher than
\r
1378 the current task then we should yield. */
\r
1379 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1381 xYieldRequired = pdTRUE;
\r
1385 /* If any ticks occurred while the scheduler was suspended then
\r
1386 they should be processed now. This ensures the tick count does not
\r
1387 slip, and that any delayed tasks are resumed at the correct time. */
\r
1388 if( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1390 while( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1392 if( xTaskIncrementTick() != pdFALSE )
\r
1394 xYieldRequired = pdTRUE;
\r
1400 if( ( xYieldRequired == pdTRUE ) || ( xYieldPending == pdTRUE ) )
\r
1402 xAlreadyYielded = pdTRUE;
\r
1403 xYieldPending = pdFALSE;
\r
1404 portYIELD_WITHIN_API();
\r
1409 taskEXIT_CRITICAL();
\r
1411 return xAlreadyYielded;
\r
1413 /*-----------------------------------------------------------*/
\r
1415 portTickType xTaskGetTickCount( void )
\r
1417 portTickType xTicks;
\r
1419 /* Critical section required if running on a 16 bit processor. */
\r
1420 taskENTER_CRITICAL();
\r
1422 xTicks = xTickCount;
\r
1424 taskEXIT_CRITICAL();
\r
1428 /*-----------------------------------------------------------*/
\r
1430 portTickType xTaskGetTickCountFromISR( void )
\r
1432 portTickType xReturn;
\r
1433 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1435 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1436 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1437 above the maximum system call priority are keep permanently enabled, even
\r
1438 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1439 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1440 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1441 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1442 assigned a priority above the configured maximum system call priority.
\r
1443 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1444 that have been assigned a priority at or (logically) below the maximum
\r
1445 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1446 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1447 More information (albeit Cortex-M specific) is provided on the following
\r
1448 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1449 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1451 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1452 xReturn = xTickCount;
\r
1453 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1457 /*-----------------------------------------------------------*/
\r
1459 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1461 /* A critical section is not required because the variables are of type
\r
1463 return uxCurrentNumberOfTasks;
\r
1465 /*-----------------------------------------------------------*/
\r
1467 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1469 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1473 /* If null is passed in here then the name of the calling task is being queried. */
\r
1474 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1475 configASSERT( pxTCB );
\r
1476 return &( pxTCB->pcTaskName[ 0 ] );
\r
1479 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1480 /*-----------------------------------------------------------*/
\r
1482 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1484 unsigned portBASE_TYPE xTaskGetSystemState( xTaskStatusType *pxTaskStatusArray, unsigned portBASE_TYPE uxArraySize, unsigned long *pulTotalRunTime )
\r
1486 unsigned portBASE_TYPE uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1488 vTaskSuspendAll();
\r
1490 /* Is there a space in the array for each task in the system? */
\r
1491 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1493 /* Fill in an xTaskStatusType structure with information on each
\r
1494 task in the Ready state. */
\r
1498 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1500 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1502 /* Fill in an xTaskStatusType structure with information on each
\r
1503 task in the Blocked state. */
\r
1504 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxDelayedTaskList, eBlocked );
\r
1505 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxOverflowDelayedTaskList, eBlocked );
\r
1507 #if( INCLUDE_vTaskDelete == 1 )
\r
1509 /* Fill in an xTaskStatusType structure with information on
\r
1510 each task that has been deleted but not yet cleaned up. */
\r
1511 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1515 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1517 /* Fill in an xTaskStatusType structure with information on
\r
1518 each task in the Suspended state. */
\r
1519 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1523 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1525 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1529 *pulTotalRunTime = 0;
\r
1539 #endif /* configUSE_TRACE_FACILITY */
\r
1540 /*----------------------------------------------------------*/
\r
1542 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1544 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1546 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1547 started, then xIdleTaskHandle will be NULL. */
\r
1548 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1549 return xIdleTaskHandle;
\r
1552 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1553 /*----------------------------------------------------------*/
\r
1555 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1556 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1557 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1559 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1561 void vTaskStepTick( portTickType xTicksToJump )
\r
1563 /* Correct the tick count value after a period during which the tick
\r
1564 was suppressed. Note this does *not* call the tick hook function for
\r
1565 each stepped tick. */
\r
1566 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1567 xTickCount += xTicksToJump;
\r
1570 #endif /* configUSE_TICKLESS_IDLE */
\r
1571 /*----------------------------------------------------------*/
\r
1573 portBASE_TYPE xTaskIncrementTick( void )
\r
1576 portTickType xItemValue;
\r
1577 portBASE_TYPE xSwitchRequired = pdFALSE;
\r
1579 /* Called by the portable layer each time a tick interrupt occurs.
\r
1580 Increments the tick then checks to see if the new tick value will cause any
\r
1581 tasks to be unblocked. */
\r
1582 traceTASK_INCREMENT_TICK( xTickCount );
\r
1583 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1585 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1586 delayed lists if it wraps to 0. */
\r
1588 if( xTickCount == ( portTickType ) 0U )
\r
1590 taskSWITCH_DELAYED_LISTS();
\r
1593 /* See if this tick has made a timeout expire. Tasks are stored in the
\r
1594 queue in the order of their wake time - meaning once one tasks has been
\r
1595 found whose block time has not expired there is no need not look any
\r
1596 further down the list. */
\r
1597 if( xTickCount >= xNextTaskUnblockTime )
\r
1601 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1603 /* The delayed list is empty. Set xNextTaskUnblockTime to
\r
1604 the maximum possible value so it is extremely unlikely that
\r
1605 the if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1606 next time through. */
\r
1607 xNextTaskUnblockTime = portMAX_DELAY;
\r
1612 /* The delayed list is not empty, get the value of the item
\r
1613 at the head of the delayed list. This is the time at which
\r
1614 the task at the head of the delayed list must be removed
\r
1615 from the Blocked state. */
\r
1616 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1617 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1619 if( xTickCount < xItemValue )
\r
1621 /* It is not time to unblock this item yet, but the item
\r
1622 value is the time at which the task at the head of the
\r
1623 blocked list must be removed from the Blocked state -
\r
1624 so record the item value in xNextTaskUnblockTime. */
\r
1625 xNextTaskUnblockTime = xItemValue;
\r
1629 /* It is time to remove the item from the Blocked state. */
\r
1630 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1632 /* Is the task waiting on an event also? If so remove it
\r
1633 from the event list. */
\r
1634 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
1636 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1639 /* Place the unblocked task into the appropriate ready
\r
1641 prvAddTaskToReadyList( pxTCB );
\r
1643 /* A task being unblocked cannot cause an immediate context
\r
1644 switch if preemption is turned off. */
\r
1645 #if ( configUSE_PREEMPTION == 1 )
\r
1647 /* Preemption is on, but a context switch should only
\r
1648 be performed if the unblocked task has a priority that
\r
1649 is equal to or higher than the currently executing
\r
1651 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1653 xSwitchRequired = pdTRUE;
\r
1656 #endif /* configUSE_PREEMPTION */
\r
1661 /* Tasks of equal priority to the currently running task will share
\r
1662 processing time (time slice) if preemption is on, and the application
\r
1663 writer has not explicitly turned time slicing off. */
\r
1664 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
1666 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > 1 )
\r
1668 xSwitchRequired = pdTRUE;
\r
1671 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
1677 /* The tick hook gets called at regular intervals, even if the
\r
1678 scheduler is locked. */
\r
1679 #if ( configUSE_TICK_HOOK == 1 )
\r
1681 vApplicationTickHook();
\r
1686 #if ( configUSE_TICK_HOOK == 1 )
\r
1688 /* Guard against the tick hook being called when the missed tick
\r
1689 count is being unwound (when the scheduler is being unlocked). */
\r
1690 if( uxPendedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1692 vApplicationTickHook();
\r
1695 #endif /* configUSE_TICK_HOOK */
\r
1697 return xSwitchRequired;
\r
1699 /*-----------------------------------------------------------*/
\r
1701 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1703 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1707 /* If xTask is NULL then we are setting our own task hook. */
\r
1708 if( xTask == NULL )
\r
1710 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1714 xTCB = ( tskTCB * ) xTask;
\r
1717 /* Save the hook function in the TCB. A critical section is required as
\r
1718 the value can be accessed from an interrupt. */
\r
1719 taskENTER_CRITICAL();
\r
1720 xTCB->pxTaskTag = pxHookFunction;
\r
1721 taskEXIT_CRITICAL();
\r
1724 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1725 /*-----------------------------------------------------------*/
\r
1727 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1729 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1732 pdTASK_HOOK_CODE xReturn;
\r
1734 /* If xTask is NULL then we are setting our own task hook. */
\r
1735 if( xTask == NULL )
\r
1737 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1741 xTCB = ( tskTCB * ) xTask;
\r
1744 /* Save the hook function in the TCB. A critical section is required as
\r
1745 the value can be accessed from an interrupt. */
\r
1746 taskENTER_CRITICAL();
\r
1747 xReturn = xTCB->pxTaskTag;
\r
1748 taskEXIT_CRITICAL();
\r
1753 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1754 /*-----------------------------------------------------------*/
\r
1756 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1758 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1761 portBASE_TYPE xReturn;
\r
1763 /* If xTask is NULL then we are calling our own task hook. */
\r
1764 if( xTask == NULL )
\r
1766 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1770 xTCB = ( tskTCB * ) xTask;
\r
1773 if( xTCB->pxTaskTag != NULL )
\r
1775 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1785 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1786 /*-----------------------------------------------------------*/
\r
1788 void vTaskSwitchContext( void )
\r
1790 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1792 /* The scheduler is currently suspended - do not allow a context
\r
1794 xYieldPending = pdTRUE;
\r
1798 traceTASK_SWITCHED_OUT();
\r
1800 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1802 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1803 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1805 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1808 /* Add the amount of time the task has been running to the
\r
1809 accumulated time so far. The time the task started running was
\r
1810 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
1811 protection here so count values are only valid until the timer
\r
1812 overflows. The guard against negative values is to protect
\r
1813 against suspect run time stat counter implementations - which
\r
1814 are provided by the application, not the kernel. */
\r
1815 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
1817 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
1819 ulTaskSwitchedInTime = ulTotalRunTime;
\r
1821 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1823 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1824 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1826 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
1828 traceTASK_SWITCHED_IN();
\r
1830 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1832 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1833 structure specific to this task. */
\r
1834 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1836 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1839 /*-----------------------------------------------------------*/
\r
1841 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1843 portTickType xTimeToWake;
\r
1845 configASSERT( pxEventList );
\r
1847 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1848 SCHEDULER SUSPENDED. */
\r
1850 /* Place the event list item of the TCB in the appropriate event list.
\r
1851 This is placed in the list in priority order so the highest priority task
\r
1852 is the first to be woken by the event. */
\r
1853 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1855 /* We must remove ourselves from the ready list before adding ourselves
\r
1856 to the blocked list as the same list item is used for both lists. We have
\r
1857 exclusive access to the ready lists as the scheduler is locked. */
\r
1858 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1860 /* The current task must be in a ready list, so there is no need to
\r
1861 check, and the port reset macro can be called directly. */
\r
1862 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1865 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1867 if( xTicksToWait == portMAX_DELAY )
\r
1869 /* Add ourselves to the suspended task list instead of a delayed task
\r
1870 list to ensure we are not woken by a timing event. We will block
\r
1872 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1876 /* Calculate the time at which the task should be woken if the event does
\r
1877 not occur. This may overflow but this doesn't matter. */
\r
1878 xTimeToWake = xTickCount + xTicksToWait;
\r
1879 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1882 #else /* INCLUDE_vTaskSuspend */
\r
1884 /* Calculate the time at which the task should be woken if the event does
\r
1885 not occur. This may overflow but this doesn't matter. */
\r
1886 xTimeToWake = xTickCount + xTicksToWait;
\r
1887 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1889 #endif /* INCLUDE_vTaskSuspend */
\r
1891 /*-----------------------------------------------------------*/
\r
1893 #if configUSE_TIMERS == 1
\r
1895 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1897 portTickType xTimeToWake;
\r
1899 configASSERT( pxEventList );
\r
1901 /* This function should not be called by application code hence the
\r
1902 'Restricted' in its name. It is not part of the public API. It is
\r
1903 designed for use by kernel code, and has special calling requirements -
\r
1904 it should be called from a critical section. */
\r
1907 /* Place the event list item of the TCB in the appropriate event list.
\r
1908 In this case it is assume that this is the only task that is going to
\r
1909 be waiting on this event list, so the faster vListInsertEnd() function
\r
1910 can be used in place of vListInsert. */
\r
1911 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1913 /* We must remove this task from the ready list before adding it to the
\r
1914 blocked list as the same list item is used for both lists. This
\r
1915 function is called form a critical section. */
\r
1916 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1918 /* The current task must be in a ready list, so there is no need to
\r
1919 check, and the port reset macro can be called directly. */
\r
1920 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1923 /* Calculate the time at which the task should be woken if the event does
\r
1924 not occur. This may overflow but this doesn't matter. */
\r
1925 xTimeToWake = xTickCount + xTicksToWait;
\r
1927 traceTASK_DELAY_UNTIL();
\r
1928 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1931 #endif /* configUSE_TIMERS */
\r
1932 /*-----------------------------------------------------------*/
\r
1934 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1936 tskTCB *pxUnblockedTCB;
\r
1937 portBASE_TYPE xReturn;
\r
1939 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1940 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1942 /* The event list is sorted in priority order, so we can remove the
\r
1943 first in the list, remove the TCB from the delayed list, and add
\r
1944 it to the ready list.
\r
1946 If an event is for a queue that is locked then this function will never
\r
1947 get called - the lock count on the queue will get modified instead. This
\r
1948 means we can always expect exclusive access to the event list here.
\r
1950 This function assumes that a check has already been made to ensure that
\r
1951 pxEventList is not empty. */
\r
1952 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1953 configASSERT( pxUnblockedTCB );
\r
1954 uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1956 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1958 uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1959 prvAddTaskToReadyList( pxUnblockedTCB );
\r
1963 /* We cannot access the delayed or ready lists, so will hold this
\r
1964 task pending until the scheduler is resumed. */
\r
1965 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1968 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1970 /* Return true if the task removed from the event list has
\r
1971 a higher priority than the calling task. This allows
\r
1972 the calling task to know if it should force a context
\r
1978 xReturn = pdFALSE;
\r
1983 /*-----------------------------------------------------------*/
\r
1985 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1987 configASSERT( pxTimeOut );
\r
1988 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1989 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1991 /*-----------------------------------------------------------*/
\r
1993 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1995 portBASE_TYPE xReturn;
\r
1997 configASSERT( pxTimeOut );
\r
1998 configASSERT( pxTicksToWait );
\r
2000 taskENTER_CRITICAL();
\r
2002 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2003 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2004 the maximum block time then the task should block indefinitely, and
\r
2005 therefore never time out. */
\r
2006 if( *pxTicksToWait == portMAX_DELAY )
\r
2008 xReturn = pdFALSE;
\r
2010 else /* We are not blocking indefinitely, perform the checks below. */
\r
2013 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
2015 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2016 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2017 It must have wrapped all the way around and gone past us again. This
\r
2018 passed since vTaskSetTimeout() was called. */
\r
2021 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
2023 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2024 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
2025 vTaskSetTimeOutState( pxTimeOut );
\r
2026 xReturn = pdFALSE;
\r
2033 taskEXIT_CRITICAL();
\r
2037 /*-----------------------------------------------------------*/
\r
2039 void vTaskMissedYield( void )
\r
2041 xYieldPending = pdTRUE;
\r
2043 /*-----------------------------------------------------------*/
\r
2045 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2047 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
2049 unsigned portBASE_TYPE uxReturn;
\r
2052 if( xTask != NULL )
\r
2054 pxTCB = ( tskTCB * ) xTask;
\r
2055 uxReturn = pxTCB->uxTaskNumber;
\r
2065 #endif /* configUSE_TRACE_FACILITY */
\r
2066 /*-----------------------------------------------------------*/
\r
2068 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2070 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
2074 if( xTask != NULL )
\r
2076 pxTCB = ( tskTCB * ) xTask;
\r
2077 pxTCB->uxTaskNumber = uxHandle;
\r
2081 #endif /* configUSE_TRACE_FACILITY */
\r
2084 * -----------------------------------------------------------
\r
2086 * ----------------------------------------------------------
\r
2088 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2089 * language extensions. The equivalent prototype for this function is:
\r
2091 * void prvIdleTask( void *pvParameters );
\r
2094 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2096 /* Stop warnings. */
\r
2097 ( void ) pvParameters;
\r
2101 /* See if any tasks have been deleted. */
\r
2102 prvCheckTasksWaitingTermination();
\r
2104 #if ( configUSE_PREEMPTION == 0 )
\r
2106 /* If we are not using preemption we keep forcing a task switch to
\r
2107 see if any other task has become available. If we are using
\r
2108 preemption we don't need to do this as any task becoming available
\r
2109 will automatically get the processor anyway. */
\r
2112 #endif /* configUSE_PREEMPTION */
\r
2114 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2116 /* When using preemption tasks of equal priority will be
\r
2117 timesliced. If a task that is sharing the idle priority is ready
\r
2118 to run then the idle task should yield before the end of the
\r
2121 A critical region is not required here as we are just reading from
\r
2122 the list, and an occasional incorrect value will not matter. If
\r
2123 the ready list at the idle priority contains more than one task
\r
2124 then a task other than the idle task is ready to execute. */
\r
2125 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2130 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2132 #if ( configUSE_IDLE_HOOK == 1 )
\r
2134 extern void vApplicationIdleHook( void );
\r
2136 /* Call the user defined function from within the idle task. This
\r
2137 allows the application designer to add background functionality
\r
2138 without the overhead of a separate task.
\r
2139 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2140 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2141 vApplicationIdleHook();
\r
2143 #endif /* configUSE_IDLE_HOOK */
\r
2145 /* This conditional compilation should use inequality to 0, not equality
\r
2146 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2147 user defined low power mode implementations require
\r
2148 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2149 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2151 portTickType xExpectedIdleTime;
\r
2153 /* It is not desirable to suspend then resume the scheduler on
\r
2154 each iteration of the idle task. Therefore, a preliminary
\r
2155 test of the expected idle time is performed without the
\r
2156 scheduler suspended. The result here is not necessarily
\r
2158 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2160 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2162 vTaskSuspendAll();
\r
2164 /* Now the scheduler is suspended, the expected idle
\r
2165 time can be sampled again, and this time its value can
\r
2167 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2168 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2170 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2172 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2178 #endif /* configUSE_TICKLESS_IDLE */
\r
2180 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
2181 /*-----------------------------------------------------------*/
\r
2183 #if configUSE_TICKLESS_IDLE != 0
\r
2185 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2187 eSleepModeStatus eReturn = eStandardSleep;
\r
2189 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2191 /* A task was made ready while the scheduler was suspended. */
\r
2192 eReturn = eAbortSleep;
\r
2194 else if( xYieldPending != pdFALSE )
\r
2196 /* A yield was pended while the scheduler was suspended. */
\r
2197 eReturn = eAbortSleep;
\r
2201 #if configUSE_TIMERS == 0
\r
2203 /* The idle task exists in addition to the application tasks. */
\r
2204 const unsigned portBASE_TYPE uxNonApplicationTasks = 1;
\r
2206 /* If timers are not being used and all the tasks are in the
\r
2207 suspended list (which might mean they have an infinite block
\r
2208 time rather than actually being suspended) then it is safe to
\r
2209 turn all clocks off and just wait for external interrupts. */
\r
2210 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2212 eReturn = eNoTasksWaitingTimeout;
\r
2215 #endif /* configUSE_TIMERS */
\r
2220 #endif /* configUSE_TICKLESS_IDLE */
\r
2221 /*-----------------------------------------------------------*/
\r
2223 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2227 /* Store the task name in the TCB. */
\r
2228 for( x = 0; x < configMAX_TASK_NAME_LEN; x++ )
\r
2230 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2232 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2233 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2234 string is not accessible (extremely unlikely). */
\r
2235 if( pcName[ x ] == 0x00 )
\r
2241 /* Ensure the name string is terminated in the case that the string length
\r
2242 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2243 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = ( signed char ) '\0';
\r
2245 /* This is used as an array index so must ensure it's not too large. First
\r
2246 remove the privilege bit if one is present. */
\r
2247 if( uxPriority >= configMAX_PRIORITIES )
\r
2249 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2252 pxTCB->uxPriority = uxPriority;
\r
2253 #if ( configUSE_MUTEXES == 1 )
\r
2255 pxTCB->uxBasePriority = uxPriority;
\r
2257 #endif /* configUSE_MUTEXES */
\r
2259 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2260 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2262 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2263 back to the containing TCB from a generic item in a list. */
\r
2264 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2266 /* Event lists are always in priority order. */
\r
2267 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
2268 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2270 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2272 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2274 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2276 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2278 pxTCB->pxTaskTag = NULL;
\r
2280 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2282 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2284 pxTCB->ulRunTimeCounter = 0UL;
\r
2286 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2288 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2290 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2292 #else /* portUSING_MPU_WRAPPERS */
\r
2294 ( void ) xRegions;
\r
2295 ( void ) usStackDepth;
\r
2297 #endif /* portUSING_MPU_WRAPPERS */
\r
2299 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2301 /* Initialise this task's Newlib reent structure. */
\r
2302 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2304 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2306 /*-----------------------------------------------------------*/
\r
2308 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2310 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2314 if( xTaskToModify == pxCurrentTCB )
\r
2316 xTaskToModify = NULL;
\r
2319 /* If null is passed in here then we are deleting ourselves. */
\r
2320 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2322 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2325 #endif /* portUSING_MPU_WRAPPERS */
\r
2326 /*-----------------------------------------------------------*/
\r
2328 static void prvInitialiseTaskLists( void )
\r
2330 unsigned portBASE_TYPE uxPriority;
\r
2332 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2334 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2337 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2338 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2339 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2341 #if ( INCLUDE_vTaskDelete == 1 )
\r
2343 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2345 #endif /* INCLUDE_vTaskDelete */
\r
2347 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2349 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2351 #endif /* INCLUDE_vTaskSuspend */
\r
2353 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2355 pxDelayedTaskList = &xDelayedTaskList1;
\r
2356 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2358 /*-----------------------------------------------------------*/
\r
2360 static void prvCheckTasksWaitingTermination( void )
\r
2362 #if ( INCLUDE_vTaskDelete == 1 )
\r
2364 portBASE_TYPE xListIsEmpty;
\r
2366 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2367 too often in the idle task. */
\r
2368 while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2370 vTaskSuspendAll();
\r
2371 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2374 if( xListIsEmpty == pdFALSE )
\r
2378 taskENTER_CRITICAL();
\r
2380 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2381 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2382 --uxCurrentNumberOfTasks;
\r
2385 taskEXIT_CRITICAL();
\r
2387 prvDeleteTCB( pxTCB );
\r
2391 #endif /* vTaskDelete */
\r
2393 /*-----------------------------------------------------------*/
\r
2395 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2397 /* The list item will be inserted in wake time order. */
\r
2398 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2400 if( xTimeToWake < xTickCount )
\r
2402 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2403 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2407 /* The wake time has not overflowed, so we can use the current block list. */
\r
2408 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2410 /* If the task entering the blocked state was placed at the head of the
\r
2411 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2413 if( xTimeToWake < xNextTaskUnblockTime )
\r
2415 xNextTaskUnblockTime = xTimeToWake;
\r
2419 /*-----------------------------------------------------------*/
\r
2421 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2425 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2426 the implementation of the port malloc function. */
\r
2427 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2429 if( pxNewTCB != NULL )
\r
2431 /* Allocate space for the stack used by the task being created.
\r
2432 The base of the stack memory stored in the TCB so the task can
\r
2433 be deleted later if required. */
\r
2434 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2436 if( pxNewTCB->pxStack == NULL )
\r
2438 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2439 vPortFree( pxNewTCB );
\r
2444 /* Just to help debugging. */
\r
2445 memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2451 /*-----------------------------------------------------------*/
\r
2453 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2455 static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState )
\r
2457 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2458 unsigned portBASE_TYPE uxTask = 0;
\r
2460 if( listCURRENT_LIST_LENGTH( pxList ) > 0 )
\r
2462 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2464 /* Populate an xTaskStatusType structure within the
\r
2465 pxTaskStatusArray array for each task that is referenced from
\r
2466 pxList. See the definition of xTaskStatusType in task.h for the
\r
2467 meaning of each xTaskStatusType structure member. */
\r
2470 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2472 pxTaskStatusArray[ uxTask ].xHandle = ( xTaskHandle ) pxNextTCB;
\r
2473 pxTaskStatusArray[ uxTask ].pcTaskName = ( const signed char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
2474 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
2475 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
2476 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
2478 #if ( configUSE_MUTEXES == 1 )
\r
2480 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
2484 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
2488 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2490 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
2494 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
2498 #if ( portSTACK_GROWTH > 0 )
\r
2500 ppxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2504 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2510 } while( pxNextTCB != pxFirstTCB );
\r
2516 #endif /* configUSE_TRACE_FACILITY */
\r
2517 /*-----------------------------------------------------------*/
\r
2519 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2521 static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2523 register unsigned short usCount = 0U;
\r
2525 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2527 pucStackByte -= portSTACK_GROWTH;
\r
2531 usCount /= sizeof( portSTACK_TYPE );
\r
2536 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
2537 /*-----------------------------------------------------------*/
\r
2539 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2541 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2544 unsigned char *pcEndOfStack;
\r
2545 unsigned portBASE_TYPE uxReturn;
\r
2547 pxTCB = prvGetTCBFromHandle( xTask );
\r
2549 #if portSTACK_GROWTH < 0
\r
2551 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2555 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2559 uxReturn = ( unsigned portBASE_TYPE ) prvTaskCheckFreeStackSpace( pcEndOfStack );
\r
2564 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
2565 /*-----------------------------------------------------------*/
\r
2567 #if ( INCLUDE_vTaskDelete == 1 )
\r
2569 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2571 /* This call is required specifically for the TriCore port. It must be
\r
2572 above the vPortFree() calls. The call is also used by ports/demos that
\r
2573 want to allocate and clean RAM statically. */
\r
2574 portCLEAN_UP_TCB( pxTCB );
\r
2576 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2577 the task to free any memory allocated at the application level. */
\r
2578 vPortFreeAligned( pxTCB->pxStack );
\r
2579 vPortFree( pxTCB );
\r
2582 #endif /* INCLUDE_vTaskDelete */
\r
2583 /*-----------------------------------------------------------*/
\r
2585 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2587 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2589 xTaskHandle xReturn;
\r
2591 /* A critical section is not required as this is not called from
\r
2592 an interrupt and the current TCB will always be the same for any
\r
2593 individual execution thread. */
\r
2594 xReturn = pxCurrentTCB;
\r
2599 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
2600 /*-----------------------------------------------------------*/
\r
2602 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2604 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2606 portBASE_TYPE xReturn;
\r
2608 if( xSchedulerRunning == pdFALSE )
\r
2610 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2614 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2616 xReturn = taskSCHEDULER_RUNNING;
\r
2620 xReturn = taskSCHEDULER_SUSPENDED;
\r
2627 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
2628 /*-----------------------------------------------------------*/
\r
2630 #if ( configUSE_MUTEXES == 1 )
\r
2632 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2634 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2636 /* If the mutex was given back by an interrupt while the queue was
\r
2637 locked then the mutex holder might now be NULL. */
\r
2638 if( pxMutexHolder != NULL )
\r
2640 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2642 /* Adjust the mutex holder state to account for its new priority. */
\r
2643 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2645 /* If the task being modified is in the ready state it will need to
\r
2646 be moved into a new list. */
\r
2647 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2649 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2651 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2654 /* Inherit the priority before being moved into the new list. */
\r
2655 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2656 prvAddTaskToReadyList( pxTCB );
\r
2660 /* Just inherit the priority. */
\r
2661 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2664 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2669 #endif /* configUSE_MUTEXES */
\r
2670 /*-----------------------------------------------------------*/
\r
2672 #if ( configUSE_MUTEXES == 1 )
\r
2674 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2676 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2678 if( pxMutexHolder != NULL )
\r
2680 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2682 /* We must be the running task to be able to give the mutex back.
\r
2683 Remove ourselves from the ready list we currently appear in. */
\r
2684 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2686 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2689 /* Disinherit the priority before adding the task into the new
\r
2691 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2692 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2693 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2694 prvAddTaskToReadyList( pxTCB );
\r
2699 #endif /* configUSE_MUTEXES */
\r
2700 /*-----------------------------------------------------------*/
\r
2702 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2704 void vTaskEnterCritical( void )
\r
2706 portDISABLE_INTERRUPTS();
\r
2708 if( xSchedulerRunning != pdFALSE )
\r
2710 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2714 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2715 /*-----------------------------------------------------------*/
\r
2717 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2719 void vTaskExitCritical( void )
\r
2721 if( xSchedulerRunning != pdFALSE )
\r
2723 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2725 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2727 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2729 portENABLE_INTERRUPTS();
\r
2735 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2736 /*-----------------------------------------------------------*/
\r
2738 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configINCLUDE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
2740 void vTaskList( signed char *pcWriteBuffer )
\r
2742 xTaskStatusType *pxTaskStatusArray;
\r
2743 volatile unsigned portBASE_TYPE uxArraySize, x;
\r
2744 unsigned long ulTotalRunTime;
\r
2750 * This function is provided for convenience only, and is used by many
\r
2751 * of the demo applications. Do not consider it to be part of the
\r
2754 * vTaskList() calls xTaskGetSystemState(), then formats part of the
\r
2755 * xTaskGetSystemState() output into a human readable table that
\r
2756 * displays task names, states and stack usage.
\r
2758 * vTaskList() has a dependency on the sprintf() C library function that
\r
2759 * might bloat the code size, use a lot of stack, and provide different
\r
2760 * results on different platforms. An alternative, tiny, third party,
\r
2761 * and limited functionality implementation of sprintf() is provided in
\r
2762 * many of the FreeRTOS/Demo sub-directories in a file called
\r
2763 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
2764 * snprintf() implementation!).
\r
2766 * It is recommended that production systems call xTaskGetSystemState()
\r
2767 * directly to get access to raw stats data, rather than indirectly
\r
2768 * through a call to vTaskList().
\r
2772 /* Make sure the write buffer does not contain a string. */
\r
2773 *pcWriteBuffer = 0x00;
\r
2775 /* Take a snapshot of the number of tasks in case it changes while this
\r
2776 function is executing. */
\r
2777 uxArraySize = uxCurrentNumberOfTasks;
\r
2779 /* Allocate an array index for each task. */
\r
2780 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
\r
2782 if( pxTaskStatusArray != NULL )
\r
2784 /* Generate the (binary) data. */
\r
2785 uxArraySize = xTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalRunTime );
\r
2787 /* Create a human readable table from the binary data. */
\r
2788 for( x = 0; x < uxArraySize; x++ )
\r
2790 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
2792 case eReady: cStatus = tskREADY_CHAR;
\r
2795 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
2798 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
2801 case eDeleted: cStatus = tskDELETED_CHAR;
\r
2804 default: /* Should not get here, but it is included
\r
2805 to prevent static checking errors. */
\r
2810 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxTaskStatusArray[ x ].pcTaskName, cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
2811 pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
\r
2814 /* Free the array again. */
\r
2815 vPortFree( pxTaskStatusArray );
\r
2819 #endif /* configUSE_TRACE_FACILITY */
\r
2820 /*----------------------------------------------------------*/
\r
2822 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configINCLUDE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
2824 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
2826 xTaskStatusType *pxTaskStatusArray;
\r
2827 volatile unsigned portBASE_TYPE uxArraySize, x;
\r
2828 unsigned long ulTotalRunTime, ulStatsAsPercentage;
\r
2833 * This function is provided for convenience only, and is used by many
\r
2834 * of the demo applications. Do not consider it to be part of the
\r
2837 * vTaskGetRunTimeStats() calls xTaskGetSystemState(), then formats part
\r
2838 * of the xTaskGetSystemState() output into a human readable table that
\r
2839 * displays the amount of time each task has spent in the Running state
\r
2840 * in both absolute and percentage terms.
\r
2842 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
2843 * function that might bloat the code size, use a lot of stack, and
\r
2844 * provide different results on different platforms. An alternative,
\r
2845 * tiny, third party, and limited functionality implementation of
\r
2846 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
2847 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
2848 * a full snprintf() implementation!).
\r
2850 * It is recommended that production systems call xTaskGetSystemState()
\r
2851 * directly to get access to raw stats data, rather than indirectly
\r
2852 * through a call to vTaskGetRunTimeStats().
\r
2855 /* Make sure the write buffer does not contain a string. */
\r
2856 *pcWriteBuffer = 0x00;
\r
2858 /* Take a snapshot of the number of tasks in case it changes while this
\r
2859 function is executing. */
\r
2860 uxArraySize = uxCurrentNumberOfTasks;
\r
2862 /* Allocate an array index for each task. */
\r
2863 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
\r
2865 if( pxTaskStatusArray != NULL )
\r
2867 /* Generate the (binary) data. */
\r
2868 uxArraySize = xTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalRunTime );
\r
2870 /* For percentage calculations. */
\r
2871 ulTotalRunTime /= 100UL;
\r
2873 /* Avoid divide by zero errors. */
\r
2874 if( ulTotalRunTime > 0 )
\r
2876 /* Create a human readable table from the binary data. */
\r
2877 for( x = 0; x < uxArraySize; x++ )
\r
2879 /* What percentage of the total run time has the task used?
\r
2880 This will always be rounded down to the nearest integer.
\r
2881 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
2882 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalRunTime;
\r
2884 if( ulStatsAsPercentage > 0UL )
\r
2886 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2888 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
2892 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2893 printf() library can be used. */
\r
2894 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2900 /* If the percentage is zero here then the task has
\r
2901 consumed less than 1% of the total run time. */
\r
2902 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2904 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
2908 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2909 printf() library can be used. */
\r
2910 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
2915 pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
\r
2919 /* Free the array again. */
\r
2920 vPortFree( pxTaskStatusArray );
\r
2924 #endif /* configGENERATE_RUN_TIME_STATS */
\r
projects / freertos / blob