2 FreeRTOS V7.4.1 - 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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153 * Some kernel aware debuggers require the data the debugger needs access to to
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154 * be global, rather than file scope.
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156 #ifdef portREMOVE_STATIC_QUALIFIER
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161 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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163 /* Lists for ready and blocked tasks. --------------------*/
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164 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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165 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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166 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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167 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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168 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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169 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */
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171 #if ( INCLUDE_vTaskDelete == 1 )
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173 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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174 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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178 #if ( INCLUDE_vTaskSuspend == 1 )
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180 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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184 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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186 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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190 /* File private variables. --------------------------------*/
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191 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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192 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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193 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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194 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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195 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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196 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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197 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0U;
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198 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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199 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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200 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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201 PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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203 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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205 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
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206 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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207 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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208 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTimeDiv100 ) PRIVILEGED_FUNCTION;
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212 /* Debugging and trace facilities private variables and macros. ------------*/
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215 * The value used to fill the stack of a task when the task is created. This
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216 * is used purely for checking the high water mark for tasks.
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218 #define tskSTACK_FILL_BYTE ( 0xa5U )
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221 * Macros used by vListTask to indicate which state a task is in.
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223 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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224 #define tskREADY_CHAR ( ( signed char ) 'R' )
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225 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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226 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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228 /*-----------------------------------------------------------*/
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230 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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232 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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233 performed in a generic way that is not optimised to any particular
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234 microcontroller architecture. */
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236 /* uxTopReadyPriority holds the priority of the highest priority ready
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238 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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240 if( ( uxPriority ) > uxTopReadyPriority ) \
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242 uxTopReadyPriority = ( uxPriority ); \
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244 } /* taskRECORD_READY_PRIORITY */
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246 /*-----------------------------------------------------------*/
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248 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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250 /* Find the highest priority queue that contains ready tasks. */ \
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251 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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253 configASSERT( uxTopReadyPriority ); \
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254 --uxTopReadyPriority; \
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257 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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258 the same priority get an equal share of the processor time. */ \
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259 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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260 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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262 /*-----------------------------------------------------------*/
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264 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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265 they are only required when a port optimised method of task selection is
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267 #define taskRESET_READY_PRIORITY( uxPriority )
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268 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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270 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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272 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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273 performed in a way that is tailored to the particular microcontroller
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274 architecture being used. */
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276 /* A port optimised version is provided. Call the port defined macros. */
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277 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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279 /*-----------------------------------------------------------*/
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281 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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283 unsigned portBASE_TYPE uxTopPriority; \
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285 /* Find the highest priority queue that contains ready tasks. */ \
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286 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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287 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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288 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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289 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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291 /*-----------------------------------------------------------*/
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293 /* A port optimised version is provided, call it only if the TCB being reset
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294 is being referenced from a ready list. If it is referenced from a delayed
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295 or suspended list then it won't be in a ready list. */
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296 #define taskRESET_READY_PRIORITY( uxPriority ) \
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298 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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300 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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304 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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307 * Place the task represented by pxTCB into the appropriate ready queue for
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308 * the task. It is inserted at the end of the list. One quirk of this is
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309 * that if the task being inserted is at the same priority as the currently
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310 * executing task, then it will only be rescheduled after the currently
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311 * executing task has been rescheduled.
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313 #define prvAddTaskToReadyQueue( pxTCB ) \
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314 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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315 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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316 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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317 /*-----------------------------------------------------------*/
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320 * Macro that looks at the list of tasks that are currently delayed to see if
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321 * any require waking.
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323 * Tasks are stored in the queue in the order of their wake time - meaning
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324 * once one tasks has been found whose timer has not expired we need not look
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325 * any further down the list.
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327 #define prvCheckDelayedTasks() \
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329 portTickType xItemValue; \
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331 /* Is the tick count greater than or equal to the wake time of the first \
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332 task referenced from the delayed tasks list? */ \
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333 if( xTickCount >= xNextTaskUnblockTime ) \
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337 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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339 /* The delayed list is empty. Set xNextTaskUnblockTime to the \
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340 maximum possible value so it is extremely unlikely that the \
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341 if( xTickCount >= xNextTaskUnblockTime ) test will pass next \
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343 xNextTaskUnblockTime = portMAX_DELAY; \
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348 /* The delayed list is not empty, get the value of the item at \
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349 the head of the delayed list. This is the time at which the \
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350 task at the head of the delayed list should be removed from \
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351 the Blocked state. */ \
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352 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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353 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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355 if( xTickCount < xItemValue ) \
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357 /* It is not time to unblock this item yet, but the item \
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358 value is the time at which the task at the head of the \
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359 blocked list should be removed from the Blocked state - \
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360 so record the item value in xNextTaskUnblockTime. */ \
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361 xNextTaskUnblockTime = xItemValue; \
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365 /* It is time to remove the item from the Blocked state. */ \
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366 uxListRemove( &( pxTCB->xGenericListItem ) ); \
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368 /* Is the task waiting on an event also? */ \
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369 if( pxTCB->xEventListItem.pvContainer != NULL ) \
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371 uxListRemove( &( pxTCB->xEventListItem ) ); \
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373 prvAddTaskToReadyQueue( pxTCB ); \
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378 /*-----------------------------------------------------------*/
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381 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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382 * where NULL is used to indicate that the handle of the currently executing
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383 * task should be used in place of the parameter. This macro simply checks to
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384 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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386 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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388 /* Callback function prototypes. --------------------------*/
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389 extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
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390 extern void vApplicationTickHook( void );
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392 /* File private functions. --------------------------------*/
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395 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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396 * into the TCB structure.
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398 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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401 * Utility to ready all the lists used by the scheduler. This is called
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402 * automatically upon the creation of the first task.
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404 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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407 * The idle task, which as all tasks is implemented as a never ending loop.
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408 * The idle task is automatically created and added to the ready lists upon
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409 * creation of the first user task.
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411 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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412 * language extensions. The equivalent prototype for this function is:
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414 * void prvIdleTask( void *pvParameters );
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417 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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420 * Utility to free all memory allocated by the scheduler to hold a TCB,
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421 * including the stack pointed to by the TCB.
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423 * This does not free memory allocated by the task itself (i.e. memory
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424 * allocated by calls to pvPortMalloc from within the tasks application code).
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426 #if ( INCLUDE_vTaskDelete == 1 )
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428 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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433 * Used only by the idle task. This checks to see if anything has been placed
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434 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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435 * and its TCB deleted.
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437 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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440 * The currently executing task is entering the Blocked state. Add the task to
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441 * either the current or the overflow delayed task list.
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443 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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446 * Allocates memory from the heap for a TCB and associated stack. Checks the
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447 * allocation was successful.
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449 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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452 * Called from vTaskList. vListTasks details all the tasks currently under
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453 * control of the scheduler. The tasks may be in one of a number of lists.
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454 * prvListTaskWithinSingleList accepts a list and details the tasks from
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455 * within just that list.
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457 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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458 * NORMAL APPLICATION CODE.
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460 #if ( configUSE_TRACE_FACILITY == 1 )
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462 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
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467 * When a task is created, the stack of the task is filled with a known value.
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468 * This function determines the 'high water mark' of the task stack by
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469 * determining how much of the stack remains at the original preset value.
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471 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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473 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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478 * Return the amount of time, in ticks, that will pass before the kernel will
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479 * next move a task from the Blocked state to the Running state.
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481 * This conditional compilation should use inequality to 0, not equality to 1.
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482 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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483 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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484 * set to a value other than 1.
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486 #if ( configUSE_TICKLESS_IDLE != 0 )
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488 static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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494 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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496 signed portBASE_TYPE xReturn;
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499 configASSERT( pxTaskCode );
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500 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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502 /* Allocate the memory required by the TCB and stack for the new task,
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503 checking that the allocation was successful. */
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504 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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506 if( pxNewTCB != NULL )
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508 portSTACK_TYPE *pxTopOfStack;
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510 #if( portUSING_MPU_WRAPPERS == 1 )
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511 /* Should the task be created in privileged mode? */
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512 portBASE_TYPE xRunPrivileged;
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513 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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515 xRunPrivileged = pdTRUE;
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519 xRunPrivileged = pdFALSE;
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521 uxPriority &= ~portPRIVILEGE_BIT;
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522 #endif /* portUSING_MPU_WRAPPERS == 1 */
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524 /* Calculate the top of stack address. This depends on whether the
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525 stack grows from high memory to low (as per the 80x86) or visa versa.
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526 portSTACK_GROWTH is used to make the result positive or negative as
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527 required by the port. */
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528 #if( portSTACK_GROWTH < 0 )
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530 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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531 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
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533 /* Check the alignment of the calculated top of stack is correct. */
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534 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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536 #else /* portSTACK_GROWTH */
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538 pxTopOfStack = pxNewTCB->pxStack;
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540 /* Check the alignment of the stack buffer is correct. */
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541 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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543 /* If we want to use stack checking on architectures that use
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544 a positive stack growth direction then we also need to store the
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545 other extreme of the stack space. */
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546 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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548 #endif /* portSTACK_GROWTH */
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550 /* Setup the newly allocated TCB with the initial state of the task. */
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551 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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553 /* Initialize the TCB stack to look as if the task was already running,
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554 but had been interrupted by the scheduler. The return address is set
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555 to the start of the task function. Once the stack has been initialised
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556 the top of stack variable is updated. */
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557 #if( portUSING_MPU_WRAPPERS == 1 )
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559 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
561 #else /* portUSING_MPU_WRAPPERS */
\r
563 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
565 #endif /* portUSING_MPU_WRAPPERS */
\r
567 /* Check the alignment of the initialised stack. */
\r
568 portALIGNMENT_ASSERT_pxCurrentTCB( ( ( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
570 if( ( void * ) pxCreatedTask != NULL )
\r
572 /* Pass the TCB out - in an anonymous way. The calling function/
\r
573 task can use this as a handle to delete the task later if
\r
575 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
\r
578 /* We are going to manipulate the task queues to add this task to a
\r
579 ready list, so must make sure no interrupts occur. */
\r
580 taskENTER_CRITICAL();
\r
582 uxCurrentNumberOfTasks++;
\r
583 if( pxCurrentTCB == NULL )
\r
585 /* There are no other tasks, or all the other tasks are in
\r
586 the suspended state - make this the current task. */
\r
587 pxCurrentTCB = pxNewTCB;
\r
589 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
591 /* This is the first task to be created so do the preliminary
\r
592 initialisation required. We will not recover if this call
\r
593 fails, but we will report the failure. */
\r
594 prvInitialiseTaskLists();
\r
599 /* If the scheduler is not already running, make this task the
\r
600 current task if it is the highest priority task to be created
\r
602 if( xSchedulerRunning == pdFALSE )
\r
604 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
606 pxCurrentTCB = pxNewTCB;
\r
611 /* Remember the top priority to make context switching faster. Use
\r
612 the priority in pxNewTCB as this has been capped to a valid value. */
\r
613 if( pxNewTCB->uxPriority > uxTopUsedPriority )
\r
615 uxTopUsedPriority = pxNewTCB->uxPriority;
\r
620 #if ( configUSE_TRACE_FACILITY == 1 )
\r
622 /* Add a counter into the TCB for tracing only. */
\r
623 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
625 #endif /* configUSE_TRACE_FACILITY */
\r
626 traceTASK_CREATE( pxNewTCB );
\r
628 prvAddTaskToReadyQueue( pxNewTCB );
\r
631 portSETUP_TCB( pxNewTCB );
\r
633 taskEXIT_CRITICAL();
\r
637 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
638 traceTASK_CREATE_FAILED();
\r
641 if( xReturn == pdPASS )
\r
643 if( xSchedulerRunning != pdFALSE )
\r
645 /* If the created task is of a higher priority than the current task
\r
646 then it should run now. */
\r
647 if( pxCurrentTCB->uxPriority < uxPriority )
\r
649 portYIELD_WITHIN_API();
\r
656 /*-----------------------------------------------------------*/
\r
658 #if ( INCLUDE_vTaskDelete == 1 )
\r
660 void vTaskDelete( xTaskHandle xTaskToDelete )
\r
664 taskENTER_CRITICAL();
\r
666 /* Ensure a yield is performed if the current task is being
\r
668 if( xTaskToDelete == pxCurrentTCB )
\r
670 xTaskToDelete = NULL;
\r
673 /* If null is passed in here then we are deleting ourselves. */
\r
674 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
676 /* Remove task from the ready list and place in the termination list.
\r
677 This will stop the task from be scheduled. The idle task will check
\r
678 the termination list and free up any memory allocated by the
\r
679 scheduler for the TCB and stack. */
\r
680 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
682 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
685 /* Is the task waiting on an event also? */
\r
686 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
688 uxListRemove( &( pxTCB->xEventListItem ) );
\r
691 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
693 /* Increment the ucTasksDeleted variable so the idle task knows
\r
694 there is a task that has been deleted and that it should therefore
\r
695 check the xTasksWaitingTermination list. */
\r
698 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
699 can detect that the task lists need re-generating. */
\r
702 traceTASK_DELETE( pxTCB );
\r
704 taskEXIT_CRITICAL();
\r
706 /* Force a reschedule if we have just deleted the current task. */
\r
707 if( xSchedulerRunning != pdFALSE )
\r
709 if( ( void * ) xTaskToDelete == NULL )
\r
711 portYIELD_WITHIN_API();
\r
716 #endif /* INCLUDE_vTaskDelete */
\r
717 /*-----------------------------------------------------------*/
\r
719 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
721 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
723 portTickType xTimeToWake;
\r
724 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
726 configASSERT( pxPreviousWakeTime );
\r
727 configASSERT( ( xTimeIncrement > 0U ) );
\r
731 /* Generate the tick time at which the task wants to wake. */
\r
732 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
734 if( xTickCount < *pxPreviousWakeTime )
\r
736 /* The tick count has overflowed since this function was
\r
737 lasted called. In this case the only time we should ever
\r
738 actually delay is if the wake time has also overflowed,
\r
739 and the wake time is greater than the tick time. When this
\r
740 is the case it is as if neither time had overflowed. */
\r
741 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
743 xShouldDelay = pdTRUE;
\r
748 /* The tick time has not overflowed. In this case we will
\r
749 delay if either the wake time has overflowed, and/or the
\r
750 tick time is less than the wake time. */
\r
751 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
753 xShouldDelay = pdTRUE;
\r
757 /* Update the wake time ready for the next call. */
\r
758 *pxPreviousWakeTime = xTimeToWake;
\r
760 if( xShouldDelay != pdFALSE )
\r
762 traceTASK_DELAY_UNTIL();
\r
764 /* We must remove ourselves from the ready list before adding
\r
765 ourselves to the blocked list as the same list item is used for
\r
767 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
769 /* The current task must be in a ready list, so there is
\r
770 no need to check, and the port reset macro can be called
\r
772 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
775 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
778 xAlreadyYielded = xTaskResumeAll();
\r
780 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
781 have put ourselves to sleep. */
\r
782 if( xAlreadyYielded == pdFALSE )
\r
784 portYIELD_WITHIN_API();
\r
788 #endif /* INCLUDE_vTaskDelayUntil */
\r
789 /*-----------------------------------------------------------*/
\r
791 #if ( INCLUDE_vTaskDelay == 1 )
\r
793 void vTaskDelay( portTickType xTicksToDelay )
\r
795 portTickType xTimeToWake;
\r
796 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
798 /* A delay time of zero just forces a reschedule. */
\r
799 if( xTicksToDelay > ( portTickType ) 0U )
\r
805 /* A task that is removed from the event list while the
\r
806 scheduler is suspended will not get placed in the ready
\r
807 list or removed from the blocked list until the scheduler
\r
810 This task cannot be in an event list as it is the currently
\r
813 /* Calculate the time to wake - this may overflow but this is
\r
815 xTimeToWake = xTickCount + xTicksToDelay;
\r
817 /* We must remove ourselves from the ready list before adding
\r
818 ourselves to the blocked list as the same list item is used for
\r
820 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
822 /* The current task must be in a ready list, so there is
\r
823 no need to check, and the port reset macro can be called
\r
825 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
827 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
829 xAlreadyYielded = xTaskResumeAll();
\r
832 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
833 have put ourselves to sleep. */
\r
834 if( xAlreadyYielded == pdFALSE )
\r
836 portYIELD_WITHIN_API();
\r
840 #endif /* INCLUDE_vTaskDelay */
\r
841 /*-----------------------------------------------------------*/
\r
843 #if ( INCLUDE_eTaskGetState == 1 )
\r
845 eTaskState eTaskGetState( xTaskHandle xTask )
\r
847 eTaskState eReturn;
\r
848 xList *pxStateList;
\r
851 pxTCB = ( tskTCB * ) xTask;
\r
853 if( pxTCB == pxCurrentTCB )
\r
855 /* The task calling this function is querying its own state. */
\r
856 eReturn = eRunning;
\r
860 taskENTER_CRITICAL();
\r
862 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
864 taskEXIT_CRITICAL();
\r
866 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
868 /* The task being queried is referenced from one of the Blocked
\r
870 eReturn = eBlocked;
\r
873 #if ( INCLUDE_vTaskSuspend == 1 )
\r
874 else if( pxStateList == &xSuspendedTaskList )
\r
876 /* The task being queried is referenced from the suspended
\r
878 eReturn = eSuspended;
\r
882 #if ( INCLUDE_vTaskDelete == 1 )
\r
883 else if( pxStateList == &xTasksWaitingTermination )
\r
885 /* The task being queried is referenced from the deleted
\r
887 eReturn = eDeleted;
\r
893 /* If the task is not in any other state, it must be in the
\r
894 Ready (including pending ready) state. */
\r
902 #endif /* INCLUDE_eTaskGetState */
\r
903 /*-----------------------------------------------------------*/
\r
905 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
907 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
\r
910 unsigned portBASE_TYPE uxReturn;
\r
912 taskENTER_CRITICAL();
\r
914 /* If null is passed in here then we are changing the
\r
915 priority of the calling function. */
\r
916 pxTCB = prvGetTCBFromHandle( xTask );
\r
917 uxReturn = pxTCB->uxPriority;
\r
919 taskEXIT_CRITICAL();
\r
924 #endif /* INCLUDE_uxTaskPriorityGet */
\r
925 /*-----------------------------------------------------------*/
\r
927 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
929 void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
\r
932 unsigned portBASE_TYPE uxCurrentPriority, uxPriorityUsedOnEntry;
\r
933 portBASE_TYPE xYieldRequired = pdFALSE;
\r
935 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
937 /* Ensure the new priority is valid. */
\r
938 if( uxNewPriority >= configMAX_PRIORITIES )
\r
940 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
943 taskENTER_CRITICAL();
\r
945 if( xTask == ( xTaskHandle ) pxCurrentTCB )
\r
950 /* If null is passed in here then we are changing the
\r
951 priority of the calling function. */
\r
952 pxTCB = prvGetTCBFromHandle( xTask );
\r
954 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
956 #if ( configUSE_MUTEXES == 1 )
\r
958 uxCurrentPriority = pxTCB->uxBasePriority;
\r
962 uxCurrentPriority = pxTCB->uxPriority;
\r
966 if( uxCurrentPriority != uxNewPriority )
\r
968 /* The priority change may have readied a task of higher
\r
969 priority than the calling task. */
\r
970 if( uxNewPriority > uxCurrentPriority )
\r
972 if( xTask != NULL )
\r
974 /* The priority of another task is being raised. If we
\r
975 were raising the priority of the currently running task
\r
976 there would be no need to switch as it must have already
\r
977 been the highest priority task. */
\r
978 xYieldRequired = pdTRUE;
\r
981 else if( xTask == NULL )
\r
983 /* Setting our own priority down means there may now be another
\r
984 task of higher priority that is ready to execute. */
\r
985 xYieldRequired = pdTRUE;
\r
988 /* Remember the ready list the task might be referenced from
\r
989 before its uxPriority member is changed so the
\r
990 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
991 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
993 #if ( configUSE_MUTEXES == 1 )
\r
995 /* Only change the priority being used if the task is not
\r
996 currently using an inherited priority. */
\r
997 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
999 pxTCB->uxPriority = uxNewPriority;
\r
1002 /* The base priority gets set whatever. */
\r
1003 pxTCB->uxBasePriority = uxNewPriority;
\r
1007 pxTCB->uxPriority = uxNewPriority;
\r
1011 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
1013 /* If the task is in the blocked or suspended list we need do
\r
1014 nothing more than change it's priority variable. However, if
\r
1015 the task is in a ready list it needs to be removed and placed
\r
1016 in the queue appropriate to its new priority. */
\r
1017 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
1019 /* The task is currently in its ready list - remove before adding
\r
1020 it to it's new ready list. As we are in a critical section we
\r
1021 can do this even if the scheduler is suspended. */
\r
1022 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1024 taskRESET_READY_PRIORITY( uxPriorityUsedOnEntry );
\r
1026 prvAddTaskToReadyQueue( pxTCB );
\r
1029 if( xYieldRequired == pdTRUE )
\r
1031 portYIELD_WITHIN_API();
\r
1034 /* Remove compiler warning about unused variables when the port
\r
1035 optimised task selection is not being used. */
\r
1036 ( void ) uxPriorityUsedOnEntry;
\r
1039 taskEXIT_CRITICAL();
\r
1042 #endif /* INCLUDE_vTaskPrioritySet */
\r
1043 /*-----------------------------------------------------------*/
\r
1045 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1047 void vTaskSuspend( xTaskHandle xTaskToSuspend )
\r
1051 taskENTER_CRITICAL();
\r
1053 /* Ensure a yield is performed if the current task is being
\r
1055 if( xTaskToSuspend == ( xTaskHandle ) pxCurrentTCB )
\r
1057 xTaskToSuspend = NULL;
\r
1060 /* If null is passed in here then we are suspending ourselves. */
\r
1061 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1063 traceTASK_SUSPEND( pxTCB );
\r
1065 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
1066 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1068 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1071 /* Is the task waiting on an event also? */
\r
1072 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
1074 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1077 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1079 taskEXIT_CRITICAL();
\r
1081 if( ( void * ) xTaskToSuspend == NULL )
\r
1083 if( xSchedulerRunning != pdFALSE )
\r
1085 /* We have just suspended the current task. */
\r
1086 portYIELD_WITHIN_API();
\r
1090 /* The scheduler is not running, but the task that was pointed
\r
1091 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1092 must be adjusted to point to a different task. */
\r
1093 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1095 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1096 NULL so when the next task is created pxCurrentTCB will
\r
1097 be set to point to it no matter what its relative priority
\r
1099 pxCurrentTCB = NULL;
\r
1103 vTaskSwitchContext();
\r
1109 #endif /* INCLUDE_vTaskSuspend */
\r
1110 /*-----------------------------------------------------------*/
\r
1112 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1114 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
1116 portBASE_TYPE xReturn = pdFALSE;
\r
1117 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1119 /* It does not make sense to check if the calling task is suspended. */
\r
1120 configASSERT( xTask );
\r
1122 /* Is the task we are attempting to resume actually in the
\r
1123 suspended list? */
\r
1124 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1126 /* Has the task already been resumed from within an ISR? */
\r
1127 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
1129 /* Is it in the suspended list because it is in the
\r
1130 Suspended state? It is possible to be in the suspended
\r
1131 list because it is blocked on a task with no timeout
\r
1133 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
1143 #endif /* INCLUDE_vTaskSuspend */
\r
1144 /*-----------------------------------------------------------*/
\r
1146 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1148 void vTaskResume( xTaskHandle xTaskToResume )
\r
1152 /* It does not make sense to resume the calling task. */
\r
1153 configASSERT( xTaskToResume );
\r
1155 /* Remove the task from whichever list it is currently in, and place
\r
1156 it in the ready list. */
\r
1157 pxTCB = ( tskTCB * ) xTaskToResume;
\r
1159 /* The parameter cannot be NULL as it is impossible to resume the
\r
1160 currently executing task. */
\r
1161 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1163 taskENTER_CRITICAL();
\r
1165 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1167 traceTASK_RESUME( pxTCB );
\r
1169 /* As we are in a critical section we can access the ready
\r
1170 lists even if the scheduler is suspended. */
\r
1171 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1172 prvAddTaskToReadyQueue( pxTCB );
\r
1174 /* We may have just resumed a higher priority task. */
\r
1175 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1177 /* This yield may not cause the task just resumed to run, but
\r
1178 will leave the lists in the correct state for the next yield. */
\r
1179 portYIELD_WITHIN_API();
\r
1183 taskEXIT_CRITICAL();
\r
1187 #endif /* INCLUDE_vTaskSuspend */
\r
1189 /*-----------------------------------------------------------*/
\r
1191 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1193 portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
\r
1195 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1197 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1199 configASSERT( xTaskToResume );
\r
1201 pxTCB = ( tskTCB * ) xTaskToResume;
\r
1203 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1205 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1207 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1209 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1211 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1212 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1213 prvAddTaskToReadyQueue( pxTCB );
\r
1217 /* We cannot access the delayed or ready lists, so will hold this
\r
1218 task pending until the scheduler is resumed, at which point a
\r
1219 yield will be performed if necessary. */
\r
1220 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1224 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1226 return xYieldRequired;
\r
1229 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1230 /*-----------------------------------------------------------*/
\r
1232 void vTaskStartScheduler( void )
\r
1234 portBASE_TYPE xReturn;
\r
1236 /* Add the idle task at the lowest priority. */
\r
1237 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1239 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1240 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1241 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );
\r
1245 /* Create the idle task without storing its handle. */
\r
1246 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
\r
1248 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1250 #if ( configUSE_TIMERS == 1 )
\r
1252 if( xReturn == pdPASS )
\r
1254 xReturn = xTimerCreateTimerTask();
\r
1257 #endif /* configUSE_TIMERS */
\r
1259 if( xReturn == pdPASS )
\r
1261 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1262 before or during the call to xPortStartScheduler(). The stacks of
\r
1263 the created tasks contain a status word with interrupts switched on
\r
1264 so interrupts will automatically get re-enabled when the first task
\r
1267 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1268 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1269 portDISABLE_INTERRUPTS();
\r
1271 xSchedulerRunning = pdTRUE;
\r
1272 xTickCount = ( portTickType ) 0U;
\r
1274 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1275 macro must be defined to configure the timer/counter used to generate
\r
1276 the run time counter time base. */
\r
1277 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1279 /* Setting up the timer tick is hardware specific and thus in the
\r
1280 portable interface. */
\r
1281 if( xPortStartScheduler() != pdFALSE )
\r
1283 /* Should not reach here as if the scheduler is running the
\r
1284 function will not return. */
\r
1288 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1293 /* This line will only be reached if the kernel could not be started,
\r
1294 because there was not enough FreeRTOS heap to create the idle task
\r
1295 or the timer task. */
\r
1296 configASSERT( xReturn );
\r
1299 /*-----------------------------------------------------------*/
\r
1301 void vTaskEndScheduler( void )
\r
1303 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1304 routine so the original ISRs can be restored if necessary. The port
\r
1305 layer must ensure interrupts enable bit is left in the correct state. */
\r
1306 portDISABLE_INTERRUPTS();
\r
1307 xSchedulerRunning = pdFALSE;
\r
1308 vPortEndScheduler();
\r
1310 /*----------------------------------------------------------*/
\r
1312 void vTaskSuspendAll( void )
\r
1314 /* A critical section is not required as the variable is of type
\r
1316 ++uxSchedulerSuspended;
\r
1318 /*----------------------------------------------------------*/
\r
1320 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1322 static portTickType prvGetExpectedIdleTime( void )
\r
1324 portTickType xReturn;
\r
1326 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1330 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1332 /* There are other idle priority tasks in the ready state. If
\r
1333 time slicing is used then the very next tick interrupt must be
\r
1339 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1345 #endif /* configUSE_TICKLESS_IDLE */
\r
1346 /*----------------------------------------------------------*/
\r
1348 signed portBASE_TYPE xTaskResumeAll( void )
\r
1350 register tskTCB *pxTCB;
\r
1351 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1353 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1354 previous call to vTaskSuspendAll(). */
\r
1355 configASSERT( uxSchedulerSuspended );
\r
1357 /* It is possible that an ISR caused a task to be removed from an event
\r
1358 list while the scheduler was suspended. If this was the case then the
\r
1359 removed task will have been added to the xPendingReadyList. Once the
\r
1360 scheduler has been resumed it is safe to move all the pending ready
\r
1361 tasks from this list into their appropriate ready list. */
\r
1362 taskENTER_CRITICAL();
\r
1364 --uxSchedulerSuspended;
\r
1366 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1368 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1370 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1372 /* Move any readied tasks from the pending list into the
\r
1373 appropriate ready list. */
\r
1374 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1376 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1377 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1378 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1379 prvAddTaskToReadyQueue( pxTCB );
\r
1381 /* If we have moved a task that has a priority higher than
\r
1382 the current task then we should yield. */
\r
1383 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1385 xYieldRequired = pdTRUE;
\r
1389 /* If any ticks occurred while the scheduler was suspended then
\r
1390 they should be processed now. This ensures the tick count does not
\r
1391 slip, and that any delayed tasks are resumed at the correct time. */
\r
1392 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1394 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1396 vTaskIncrementTick();
\r
1400 /* As we have processed some ticks it is appropriate to yield
\r
1401 to ensure the highest priority task that is ready to run is
\r
1402 the task actually running. */
\r
1403 #if configUSE_PREEMPTION == 1
\r
1405 xYieldRequired = pdTRUE;
\r
1410 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1412 xAlreadyYielded = pdTRUE;
\r
1413 xMissedYield = pdFALSE;
\r
1414 portYIELD_WITHIN_API();
\r
1419 taskEXIT_CRITICAL();
\r
1421 return xAlreadyYielded;
\r
1423 /*-----------------------------------------------------------*/
\r
1425 portTickType xTaskGetTickCount( void )
\r
1427 portTickType xTicks;
\r
1429 /* Critical section required if running on a 16 bit processor. */
\r
1430 taskENTER_CRITICAL();
\r
1432 xTicks = xTickCount;
\r
1434 taskEXIT_CRITICAL();
\r
1438 /*-----------------------------------------------------------*/
\r
1440 portTickType xTaskGetTickCountFromISR( void )
\r
1442 portTickType xReturn;
\r
1443 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1445 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1446 xReturn = xTickCount;
\r
1447 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1451 /*-----------------------------------------------------------*/
\r
1453 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1455 /* A critical section is not required because the variables are of type
\r
1457 return uxCurrentNumberOfTasks;
\r
1459 /*-----------------------------------------------------------*/
\r
1461 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1463 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1467 /* If null is passed in here then the name of the calling task is being queried. */
\r
1468 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1469 configASSERT( pxTCB );
\r
1470 return &( pxTCB->pcTaskName[ 0 ] );
\r
1473 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1474 /*-----------------------------------------------------------*/
\r
1476 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1478 void vTaskList( signed char *pcWriteBuffer )
\r
1480 unsigned portBASE_TYPE uxQueue;
\r
1482 /* This is a VERY costly function that should be used for debug only.
\r
1483 It leaves interrupts disabled for a LONG time. */
\r
1485 vTaskSuspendAll();
\r
1487 /* Run through all the lists that could potentially contain a TCB and
\r
1488 report the task name, state and stack high water mark. */
\r
1490 *pcWriteBuffer = ( signed char ) 0x00;
\r
1491 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1493 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1499 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1501 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1503 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1505 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1507 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1510 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1512 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1515 #if( INCLUDE_vTaskDelete == 1 )
\r
1517 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1519 prvListTaskWithinSingleList( pcWriteBuffer, &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1524 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1526 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1528 prvListTaskWithinSingleList( pcWriteBuffer, &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1536 #endif /* configUSE_TRACE_FACILITY */
\r
1537 /*----------------------------------------------------------*/
\r
1539 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1541 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1543 unsigned portBASE_TYPE uxQueue;
\r
1544 unsigned long ulTotalRunTimeDiv100;
\r
1546 /* This is a VERY costly function that should be used for debug only.
\r
1547 It leaves interrupts disabled for a LONG time. */
\r
1549 vTaskSuspendAll();
\r
1551 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1552 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1554 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1557 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1558 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1559 ulTotalRunTimeDiv100 = ulTotalRunTime / 100UL;
\r
1561 /* Run through all the lists that could potentially contain a TCB,
\r
1562 generating a table of run timer percentages in the provided
\r
1565 *pcWriteBuffer = ( signed char ) 0x00;
\r
1566 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1568 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1574 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1576 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTimeDiv100 );
\r
1578 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1580 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1582 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTimeDiv100 );
\r
1585 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1587 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTimeDiv100 );
\r
1590 #if ( INCLUDE_vTaskDelete == 1 )
\r
1592 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1594 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTimeDiv100 );
\r
1599 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1601 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1603 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTimeDiv100 );
\r
1611 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1612 /*----------------------------------------------------------*/
\r
1614 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1616 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1618 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1619 started, then xIdleTaskHandle will be NULL. */
\r
1620 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1621 return xIdleTaskHandle;
\r
1624 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1625 /*----------------------------------------------------------*/
\r
1627 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1628 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1629 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1631 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1633 void vTaskStepTick( portTickType xTicksToJump )
\r
1635 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1636 xTickCount += xTicksToJump;
\r
1639 #endif /* configUSE_TICKLESS_IDLE */
\r
1640 /*----------------------------------------------------------*/
\r
1642 void vTaskIncrementTick( void )
\r
1646 /* Called by the portable layer each time a tick interrupt occurs.
\r
1647 Increments the tick then checks to see if the new tick value will cause any
\r
1648 tasks to be unblocked. */
\r
1649 traceTASK_INCREMENT_TICK( xTickCount );
\r
1650 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1653 if( xTickCount == ( portTickType ) 0U )
\r
1657 /* Tick count has overflowed so we need to swap the delay lists.
\r
1658 If there are any items in pxDelayedTaskList here then there is
\r
1660 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );
\r
1662 pxTemp = pxDelayedTaskList;
\r
1663 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1664 pxOverflowDelayedTaskList = pxTemp;
\r
1665 xNumOfOverflows++;
\r
1667 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1669 /* The new current delayed list is empty. Set
\r
1670 xNextTaskUnblockTime to the maximum possible value so it is
\r
1671 extremely unlikely that the
\r
1672 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
1673 there is an item in the delayed list. */
\r
1674 xNextTaskUnblockTime = portMAX_DELAY;
\r
1678 /* The new current delayed list is not empty, get the value of
\r
1679 the item at the head of the delayed list. This is the time at
\r
1680 which the task at the head of the delayed list should be removed
\r
1681 from the Blocked state. */
\r
1682 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1683 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1687 /* See if this tick has made a timeout expire. */
\r
1688 prvCheckDelayedTasks();
\r
1694 /* The tick hook gets called at regular intervals, even if the
\r
1695 scheduler is locked. */
\r
1696 #if ( configUSE_TICK_HOOK == 1 )
\r
1698 vApplicationTickHook();
\r
1703 #if ( configUSE_TICK_HOOK == 1 )
\r
1705 /* Guard against the tick hook being called when the missed tick
\r
1706 count is being unwound (when the scheduler is being unlocked. */
\r
1707 if( uxMissedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1709 vApplicationTickHook();
\r
1712 #endif /* configUSE_TICK_HOOK */
\r
1714 /*-----------------------------------------------------------*/
\r
1716 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1718 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1722 /* If xTask is NULL then we are setting our own task hook. */
\r
1723 if( xTask == NULL )
\r
1725 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1729 xTCB = ( tskTCB * ) xTask;
\r
1732 /* Save the hook function in the TCB. A critical section is required as
\r
1733 the value can be accessed from an interrupt. */
\r
1734 taskENTER_CRITICAL();
\r
1735 xTCB->pxTaskTag = pxHookFunction;
\r
1736 taskEXIT_CRITICAL();
\r
1739 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1740 /*-----------------------------------------------------------*/
\r
1742 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1744 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1747 pdTASK_HOOK_CODE xReturn;
\r
1749 /* If xTask is NULL then we are setting our own task hook. */
\r
1750 if( xTask == NULL )
\r
1752 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1756 xTCB = ( tskTCB * ) xTask;
\r
1759 /* Save the hook function in the TCB. A critical section is required as
\r
1760 the value can be accessed from an interrupt. */
\r
1761 taskENTER_CRITICAL();
\r
1762 xReturn = xTCB->pxTaskTag;
\r
1763 taskEXIT_CRITICAL();
\r
1768 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1769 /*-----------------------------------------------------------*/
\r
1771 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1773 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1776 portBASE_TYPE xReturn;
\r
1778 /* If xTask is NULL then we are calling our own task hook. */
\r
1779 if( xTask == NULL )
\r
1781 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1785 xTCB = ( tskTCB * ) xTask;
\r
1788 if( xTCB->pxTaskTag != NULL )
\r
1790 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1800 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1801 /*-----------------------------------------------------------*/
\r
1803 void vTaskSwitchContext( void )
\r
1805 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1807 /* The scheduler is currently suspended - do not allow a context
\r
1809 xMissedYield = pdTRUE;
\r
1813 traceTASK_SWITCHED_OUT();
\r
1815 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1817 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1818 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1820 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1823 /* Add the amount of time the task has been running to the accumulated
\r
1824 time so far. The time the task started running was stored in
\r
1825 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1826 so count values are only valid until the timer overflows. Generally
\r
1827 this will be about 1 hour assuming a 1uS timer increment. */
\r
1828 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
1829 ulTaskSwitchedInTime = ulTotalRunTime;
\r
1831 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1833 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1834 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1836 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
1838 traceTASK_SWITCHED_IN();
\r
1841 /*-----------------------------------------------------------*/
\r
1843 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1845 portTickType xTimeToWake;
\r
1847 configASSERT( pxEventList );
\r
1849 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1850 SCHEDULER SUSPENDED. */
\r
1852 /* Place the event list item of the TCB in the appropriate event list.
\r
1853 This is placed in the list in priority order so the highest priority task
\r
1854 is the first to be woken by the event. */
\r
1855 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1857 /* We must remove ourselves from the ready list before adding ourselves
\r
1858 to the blocked list as the same list item is used for both lists. We have
\r
1859 exclusive access to the ready lists as the scheduler is locked. */
\r
1860 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1862 /* The current task must be in a ready list, so there is no need to
\r
1863 check, and the port reset macro can be called directly. */
\r
1864 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1867 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1869 if( xTicksToWait == portMAX_DELAY )
\r
1871 /* Add ourselves to the suspended task list instead of a delayed task
\r
1872 list to ensure we are not woken by a timing event. We will block
\r
1874 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1878 /* Calculate the time at which the task should be woken if the event does
\r
1879 not occur. This may overflow but this doesn't matter. */
\r
1880 xTimeToWake = xTickCount + xTicksToWait;
\r
1881 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1884 #else /* INCLUDE_vTaskSuspend */
\r
1886 /* Calculate the time at which the task should be woken if the event does
\r
1887 not occur. This may overflow but this doesn't matter. */
\r
1888 xTimeToWake = xTickCount + xTicksToWait;
\r
1889 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1891 #endif /* INCLUDE_vTaskSuspend */
\r
1893 /*-----------------------------------------------------------*/
\r
1895 #if configUSE_TIMERS == 1
\r
1897 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1899 portTickType xTimeToWake;
\r
1901 configASSERT( pxEventList );
\r
1903 /* This function should not be called by application code hence the
\r
1904 'Restricted' in its name. It is not part of the public API. It is
\r
1905 designed for use by kernel code, and has special calling requirements -
\r
1906 it should be called from a critical section. */
\r
1909 /* Place the event list item of the TCB in the appropriate event list.
\r
1910 In this case it is assume that this is the only task that is going to
\r
1911 be waiting on this event list, so the faster vListInsertEnd() function
\r
1912 can be used in place of vListInsert. */
\r
1913 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1915 /* We must remove this task from the ready list before adding it to the
\r
1916 blocked list as the same list item is used for both lists. This
\r
1917 function is called form a critical section. */
\r
1918 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1920 /* The current task must be in a ready list, so there is no need to
\r
1921 check, and the port reset macro can be called directly. */
\r
1922 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1925 /* Calculate the time at which the task should be woken if the event does
\r
1926 not occur. This may overflow but this doesn't matter. */
\r
1927 xTimeToWake = xTickCount + xTicksToWait;
\r
1929 traceTASK_DELAY_UNTIL();
\r
1930 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1933 #endif /* configUSE_TIMERS */
\r
1934 /*-----------------------------------------------------------*/
\r
1936 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1938 tskTCB *pxUnblockedTCB;
\r
1939 portBASE_TYPE xReturn;
\r
1941 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1942 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1944 /* The event list is sorted in priority order, so we can remove the
\r
1945 first in the list, remove the TCB from the delayed list, and add
\r
1946 it to the ready list.
\r
1948 If an event is for a queue that is locked then this function will never
\r
1949 get called - the lock count on the queue will get modified instead. This
\r
1950 means we can always expect exclusive access to the event list here.
\r
1952 This function assumes that a check has already been made to ensure that
\r
1953 pxEventList is not empty. */
\r
1954 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1955 configASSERT( pxUnblockedTCB );
\r
1956 uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1958 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1960 uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1961 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1965 /* We cannot access the delayed or ready lists, so will hold this
\r
1966 task pending until the scheduler is resumed. */
\r
1967 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1970 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1972 /* Return true if the task removed from the event list has
\r
1973 a higher priority than the calling task. This allows
\r
1974 the calling task to know if it should force a context
\r
1980 xReturn = pdFALSE;
\r
1985 /*-----------------------------------------------------------*/
\r
1987 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1989 configASSERT( pxTimeOut );
\r
1990 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1991 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1993 /*-----------------------------------------------------------*/
\r
1995 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1997 portBASE_TYPE xReturn;
\r
1999 configASSERT( pxTimeOut );
\r
2000 configASSERT( pxTicksToWait );
\r
2002 taskENTER_CRITICAL();
\r
2004 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2005 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2006 the maximum block time then the task should block indefinitely, and
\r
2007 therefore never time out. */
\r
2008 if( *pxTicksToWait == portMAX_DELAY )
\r
2010 xReturn = pdFALSE;
\r
2012 else /* We are not blocking indefinitely, perform the checks below. */
\r
2015 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
2017 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2018 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2019 It must have wrapped all the way around and gone past us again. This
\r
2020 passed since vTaskSetTimeout() was called. */
\r
2023 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
2025 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2026 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
2027 vTaskSetTimeOutState( pxTimeOut );
\r
2028 xReturn = pdFALSE;
\r
2035 taskEXIT_CRITICAL();
\r
2039 /*-----------------------------------------------------------*/
\r
2041 void vTaskMissedYield( void )
\r
2043 xMissedYield = pdTRUE;
\r
2045 /*-----------------------------------------------------------*/
\r
2047 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2049 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
2051 unsigned portBASE_TYPE uxReturn;
\r
2054 if( xTask != NULL )
\r
2056 pxTCB = ( tskTCB * ) xTask;
\r
2057 uxReturn = pxTCB->uxTaskNumber;
\r
2067 #endif /* configUSE_TRACE_FACILITY */
\r
2068 /*-----------------------------------------------------------*/
\r
2070 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2072 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
2076 if( xTask != NULL )
\r
2078 pxTCB = ( tskTCB * ) xTask;
\r
2079 pxTCB->uxTaskNumber = uxHandle;
\r
2083 #endif /* configUSE_TRACE_FACILITY */
\r
2086 * -----------------------------------------------------------
\r
2088 * ----------------------------------------------------------
\r
2090 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2091 * language extensions. The equivalent prototype for this function is:
\r
2093 * void prvIdleTask( void *pvParameters );
\r
2096 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2098 /* Stop warnings. */
\r
2099 ( void ) pvParameters;
\r
2103 /* See if any tasks have been deleted. */
\r
2104 prvCheckTasksWaitingTermination();
\r
2106 #if ( configUSE_PREEMPTION == 0 )
\r
2108 /* If we are not using preemption we keep forcing a task switch to
\r
2109 see if any other task has become available. If we are using
\r
2110 preemption we don't need to do this as any task becoming available
\r
2111 will automatically get the processor anyway. */
\r
2114 #endif /* configUSE_PREEMPTION */
\r
2116 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2118 /* When using preemption tasks of equal priority will be
\r
2119 timesliced. If a task that is sharing the idle priority is ready
\r
2120 to run then the idle task should yield before the end of the
\r
2123 A critical region is not required here as we are just reading from
\r
2124 the list, and an occasional incorrect value will not matter. If
\r
2125 the ready list at the idle priority contains more than one task
\r
2126 then a task other than the idle task is ready to execute. */
\r
2127 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2132 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2134 #if ( configUSE_IDLE_HOOK == 1 )
\r
2136 extern void vApplicationIdleHook( void );
\r
2138 /* Call the user defined function from within the idle task. This
\r
2139 allows the application designer to add background functionality
\r
2140 without the overhead of a separate task.
\r
2141 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2142 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2143 vApplicationIdleHook();
\r
2145 #endif /* configUSE_IDLE_HOOK */
\r
2147 /* This conditional compilation should use inequality to 0, not equality
\r
2148 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2149 user defined low power mode implementations require
\r
2150 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2151 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2153 portTickType xExpectedIdleTime;
\r
2155 /* It is not desirable to suspend then resume the scheduler on
\r
2156 each iteration of the idle task. Therefore, a preliminary
\r
2157 test of the expected idle time is performed without the
\r
2158 scheduler suspended. The result here is not necessarily
\r
2160 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2162 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2164 vTaskSuspendAll();
\r
2166 /* Now the scheduler is suspended, the expected idle
\r
2167 time can be sampled again, and this time its value can
\r
2169 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2170 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2172 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2174 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2180 #endif /* configUSE_TICKLESS_IDLE */
\r
2182 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
2183 /*-----------------------------------------------------------*/
\r
2185 #if configUSE_TICKLESS_IDLE != 0
\r
2187 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2189 eSleepModeStatus eReturn = eStandardSleep;
\r
2191 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2193 /* A task was made ready while the scheduler was suspended. */
\r
2194 eReturn = eAbortSleep;
\r
2196 else if( xMissedYield != pdFALSE )
\r
2198 /* A yield was pended while the scheduler was suspended. */
\r
2199 eReturn = eAbortSleep;
\r
2203 #if configUSE_TIMERS == 0
\r
2205 /* The idle task exists in addition to the application tasks. */
\r
2206 const unsigned portBASE_TYPE uxNonApplicationTasks = 1;
\r
2208 /* If timers are not being used and all the tasks are in the
\r
2209 suspended list (which might mean they have an infinite block
\r
2210 time rather than actually being suspended) then it is safe to
\r
2211 turn all clocks off and just wait for external interrupts. */
\r
2212 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2214 eReturn = eNoTasksWaitingTimeout;
\r
2217 #endif /* configUSE_TIMERS */
\r
2222 #endif /* configUSE_TICKLESS_IDLE */
\r
2223 /*-----------------------------------------------------------*/
\r
2225 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 function name in the TCB. */
\r
2228 #if configMAX_TASK_NAME_LEN > 1
\r
2230 /* Don't bring strncpy into the build unnecessarily. */
\r
2231 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
2233 #endif /* configMAX_TASK_NAME_LEN */
\r
2234 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
\r
2236 /* This is used as an array index so must ensure it's not too large. First
\r
2237 remove the privilege bit if one is present. */
\r
2238 if( uxPriority >= configMAX_PRIORITIES )
\r
2240 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2243 pxTCB->uxPriority = uxPriority;
\r
2244 #if ( configUSE_MUTEXES == 1 )
\r
2246 pxTCB->uxBasePriority = uxPriority;
\r
2248 #endif /* configUSE_MUTEXES */
\r
2250 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2251 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2253 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2254 back to the containing TCB from a generic item in a list. */
\r
2255 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2257 /* Event lists are always in priority order. */
\r
2258 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
2259 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2261 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2263 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2265 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2267 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2269 pxTCB->pxTaskTag = NULL;
\r
2271 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2273 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2275 pxTCB->ulRunTimeCounter = 0UL;
\r
2277 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2279 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2281 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2283 #else /* portUSING_MPU_WRAPPERS */
\r
2285 ( void ) xRegions;
\r
2286 ( void ) usStackDepth;
\r
2288 #endif /* portUSING_MPU_WRAPPERS */
\r
2290 /*-----------------------------------------------------------*/
\r
2292 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2294 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2298 if( xTaskToModify == pxCurrentTCB )
\r
2300 xTaskToModify = NULL;
\r
2303 /* If null is passed in here then we are deleting ourselves. */
\r
2304 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2306 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2309 #endif /* portUSING_MPU_WRAPPERS */
\r
2310 /*-----------------------------------------------------------*/
\r
2312 static void prvInitialiseTaskLists( void )
\r
2314 unsigned portBASE_TYPE uxPriority;
\r
2316 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2318 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2321 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2322 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2323 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2325 #if ( INCLUDE_vTaskDelete == 1 )
\r
2327 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2329 #endif /* INCLUDE_vTaskDelete */
\r
2331 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2333 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2335 #endif /* INCLUDE_vTaskSuspend */
\r
2337 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2339 pxDelayedTaskList = &xDelayedTaskList1;
\r
2340 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2342 /*-----------------------------------------------------------*/
\r
2344 static void prvCheckTasksWaitingTermination( void )
\r
2346 #if ( INCLUDE_vTaskDelete == 1 )
\r
2348 portBASE_TYPE xListIsEmpty;
\r
2350 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2351 too often in the idle task. */
\r
2352 while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2354 vTaskSuspendAll();
\r
2355 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2358 if( xListIsEmpty == pdFALSE )
\r
2362 taskENTER_CRITICAL();
\r
2364 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2365 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2366 --uxCurrentNumberOfTasks;
\r
2369 taskEXIT_CRITICAL();
\r
2371 prvDeleteTCB( pxTCB );
\r
2375 #endif /* vTaskDelete */
\r
2377 /*-----------------------------------------------------------*/
\r
2379 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2381 /* The list item will be inserted in wake time order. */
\r
2382 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2384 if( xTimeToWake < xTickCount )
\r
2386 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2387 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2391 /* The wake time has not overflowed, so we can use the current block list. */
\r
2392 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2394 /* If the task entering the blocked state was placed at the head of the
\r
2395 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2397 if( xTimeToWake < xNextTaskUnblockTime )
\r
2399 xNextTaskUnblockTime = xTimeToWake;
\r
2403 /*-----------------------------------------------------------*/
\r
2405 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2409 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2410 the implementation of the port malloc function. */
\r
2411 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2413 if( pxNewTCB != NULL )
\r
2415 /* Allocate space for the stack used by the task being created.
\r
2416 The base of the stack memory stored in the TCB so the task can
\r
2417 be deleted later if required. */
\r
2418 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2420 if( pxNewTCB->pxStack == NULL )
\r
2422 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2423 vPortFree( pxNewTCB );
\r
2428 /* Just to help debugging. */
\r
2429 memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2435 /*-----------------------------------------------------------*/
\r
2437 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2439 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2441 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2442 unsigned short usStackRemaining;
\r
2443 PRIVILEGED_DATA static char pcStatusString[ configMAX_TASK_NAME_LEN + 30 ];
\r
2445 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2446 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2449 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2450 #if ( portSTACK_GROWTH > 0 )
\r
2452 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2456 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2460 sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, ( unsigned int ) usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
\r
2461 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2463 } while( pxNextTCB != pxFirstTCB );
\r
2466 #endif /* configUSE_TRACE_FACILITY */
\r
2467 /*-----------------------------------------------------------*/
\r
2469 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2471 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTimeDiv100 )
\r
2473 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2474 unsigned long ulStatsAsPercentage;
\r
2476 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2477 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2480 /* Get next TCB in from the list. */
\r
2481 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2483 /* Divide by zero check. */
\r
2484 if( ulTotalRunTimeDiv100 > 0UL )
\r
2486 /* Has the task run at all? */
\r
2487 if( pxNextTCB->ulRunTimeCounter == 0UL )
\r
2489 /* The task has used no CPU time at all. */
\r
2490 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2494 /* What percentage of the total run time has the task used?
\r
2495 This will always be rounded down to the nearest integer.
\r
2496 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
2497 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTimeDiv100;
\r
2499 if( ulStatsAsPercentage > 0UL )
\r
2501 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2503 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2507 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2508 printf() library can be used. */
\r
2509 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2515 /* If the percentage is zero here then the task has
\r
2516 consumed less than 1% of the total run time. */
\r
2517 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2519 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2523 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2524 printf() library can be used. */
\r
2525 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2531 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2534 } while( pxNextTCB != pxFirstTCB );
\r
2537 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2538 /*-----------------------------------------------------------*/
\r
2540 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2542 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2544 register unsigned short usCount = 0U;
\r
2546 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2548 pucStackByte -= portSTACK_GROWTH;
\r
2552 usCount /= sizeof( portSTACK_TYPE );
\r
2557 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
2558 /*-----------------------------------------------------------*/
\r
2560 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2562 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2565 unsigned char *pcEndOfStack;
\r
2566 unsigned portBASE_TYPE uxReturn;
\r
2568 pxTCB = prvGetTCBFromHandle( xTask );
\r
2570 #if portSTACK_GROWTH < 0
\r
2572 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2576 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2580 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2585 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
2586 /*-----------------------------------------------------------*/
\r
2588 #if ( INCLUDE_vTaskDelete == 1 )
\r
2590 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2592 /* This call is required specifically for the TriCore port. It must be
\r
2593 above the vPortFree() calls. The call is also used by ports/demos that
\r
2594 want to allocate and clean RAM statically. */
\r
2595 portCLEAN_UP_TCB( pxTCB );
\r
2597 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2598 the task to free any memory allocated at the application level. */
\r
2599 vPortFreeAligned( pxTCB->pxStack );
\r
2600 vPortFree( pxTCB );
\r
2603 #endif /* INCLUDE_vTaskDelete */
\r
2604 /*-----------------------------------------------------------*/
\r
2606 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2608 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2610 xTaskHandle xReturn;
\r
2612 /* A critical section is not required as this is not called from
\r
2613 an interrupt and the current TCB will always be the same for any
\r
2614 individual execution thread. */
\r
2615 xReturn = pxCurrentTCB;
\r
2620 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
2621 /*-----------------------------------------------------------*/
\r
2623 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2625 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2627 portBASE_TYPE xReturn;
\r
2629 if( xSchedulerRunning == pdFALSE )
\r
2631 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2635 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2637 xReturn = taskSCHEDULER_RUNNING;
\r
2641 xReturn = taskSCHEDULER_SUSPENDED;
\r
2648 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
2649 /*-----------------------------------------------------------*/
\r
2651 #if ( configUSE_MUTEXES == 1 )
\r
2653 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2655 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2657 /* If the mutex was given back by an interrupt while the queue was
\r
2658 locked then the mutex holder might now be NULL. */
\r
2659 if( pxMutexHolder != NULL )
\r
2661 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2663 /* Adjust the mutex holder state to account for its new priority. */
\r
2664 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2666 /* If the task being modified is in the ready state it will need to
\r
2667 be moved into a new list. */
\r
2668 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2670 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2672 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2675 /* Inherit the priority before being moved into the new list. */
\r
2676 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2677 prvAddTaskToReadyQueue( pxTCB );
\r
2681 /* Just inherit the priority. */
\r
2682 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2685 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2690 #endif /* configUSE_MUTEXES */
\r
2691 /*-----------------------------------------------------------*/
\r
2693 #if ( configUSE_MUTEXES == 1 )
\r
2695 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2697 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2699 if( pxMutexHolder != NULL )
\r
2701 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2703 /* We must be the running task to be able to give the mutex back.
\r
2704 Remove ourselves from the ready list we currently appear in. */
\r
2705 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2707 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2710 /* Disinherit the priority before adding the task into the new
\r
2712 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2713 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2714 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2715 prvAddTaskToReadyQueue( pxTCB );
\r
2720 #endif /* configUSE_MUTEXES */
\r
2721 /*-----------------------------------------------------------*/
\r
2723 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2725 void vTaskEnterCritical( void )
\r
2727 portDISABLE_INTERRUPTS();
\r
2729 if( xSchedulerRunning != pdFALSE )
\r
2731 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2735 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2736 /*-----------------------------------------------------------*/
\r
2738 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2740 void vTaskExitCritical( void )
\r
2742 if( xSchedulerRunning != pdFALSE )
\r
2744 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2746 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2748 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2750 portENABLE_INTERRUPTS();
\r
2756 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2757 /*-----------------------------------------------------------*/
\r
projects / freertos / blob