2 FreeRTOS V7.5.2 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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6 ***************************************************************************
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8 * FreeRTOS provides completely free yet professionally developed, *
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9 * robust, strictly quality controlled, supported, and cross *
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10 * platform software that has become a de facto standard. *
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12 * Help yourself get started quickly and support the FreeRTOS *
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13 * project by purchasing a FreeRTOS tutorial book, reference *
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14 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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18 ***************************************************************************
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20 This file is part of the FreeRTOS distribution.
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22 FreeRTOS is free software; you can redistribute it and/or modify it under
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23 the terms of the GNU General Public License (version 2) as published by the
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24 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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26 >>! NOTE: The modification to the GPL is included to allow you to distribute
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27 >>! a combined work that includes FreeRTOS without being obliged to provide
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28 >>! the source code for proprietary components outside of the FreeRTOS
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31 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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32 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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33 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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34 link: http://www.freertos.org/a00114.html
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38 ***************************************************************************
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40 * Having a problem? Start by reading the FAQ "My application does *
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41 * not run, what could be wrong?" *
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43 * http://www.FreeRTOS.org/FAQHelp.html *
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45 ***************************************************************************
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47 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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48 license and Real Time Engineers Ltd. contact details.
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50 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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51 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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52 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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54 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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55 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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56 licenses offer ticketed support, indemnification and middleware.
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58 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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59 engineered and independently SIL3 certified version for use in safety and
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60 mission critical applications that require provable dependability.
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65 /* Standard includes. */
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69 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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70 all the API functions to use the MPU wrappers. That should only be done when
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71 task.h is included from an application file. */
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72 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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74 /* FreeRTOS includes. */
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75 #include "FreeRTOS.h"
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78 #include "StackMacros.h"
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80 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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81 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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82 header files above, but not in this file, in order to generate the correct
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83 privileged Vs unprivileged linkage and placement. */
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84 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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86 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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87 /* At the bottom of this file are two optional functions that can be used
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88 to generate human readable text from the raw data generated by the
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89 uxTaskGetSystemState() function. Note the formatting functions are provided
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90 for convenience only, and are NOT considered part of the kernel. */
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92 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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94 /* Sanity check the configuration. */
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95 #if configUSE_TICKLESS_IDLE != 0
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96 #if INCLUDE_vTaskSuspend != 1
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97 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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98 #endif /* INCLUDE_vTaskSuspend */
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99 #endif /* configUSE_TICKLESS_IDLE */
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102 * Defines the size, in words, of the stack allocated to the idle task.
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104 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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107 * Task control block. A task control block (TCB) is allocated for each task,
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108 * and stores task state information, including a pointer to the task's context
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109 * (the task's run time environment, including register values)
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111 typedef struct tskTaskControlBlock
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113 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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115 #if ( portUSING_MPU_WRAPPERS == 1 )
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116 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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119 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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120 xListItem xEventListItem; /*< Used to reference a task from an event list. */
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121 unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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122 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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123 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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125 #if ( portSTACK_GROWTH > 0 )
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126 portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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129 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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130 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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133 #if ( configUSE_TRACE_FACILITY == 1 )
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134 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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135 unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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138 #if ( configUSE_MUTEXES == 1 )
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139 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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142 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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143 pdTASK_HOOK_CODE pxTaskTag;
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146 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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147 unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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150 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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151 /* Allocate a Newlib reent structure that is specific to this task.
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152 Note Newlib support has been included by popular demand, but is not
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153 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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154 responsible for resulting newlib operation. User must be familiar with
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155 newlib and must provide system-wide implementations of the necessary
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156 stubs. Be warned that (at the time of writing) the current newlib design
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157 implements a system-wide malloc() that must be provided with locks. */
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158 struct _reent xNewLib_reent;
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165 * Some kernel aware debuggers require the data the debugger needs access to to
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166 * be global, rather than file scope.
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168 #ifdef portREMOVE_STATIC_QUALIFIER
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172 /*lint -e956 A manual analysis and inspection has been used to determine which
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173 static variables must be declared volatile. */
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175 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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177 /* Lists for ready and blocked tasks. --------------------*/
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178 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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179 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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180 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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181 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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182 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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183 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
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185 #if ( INCLUDE_vTaskDelete == 1 )
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187 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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188 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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192 #if ( INCLUDE_vTaskSuspend == 1 )
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194 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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198 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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200 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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204 /* Other file private variables. --------------------------------*/
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205 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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206 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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207 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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208 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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209 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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210 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxPendedTicks = ( unsigned portBASE_TYPE ) 0U;
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211 PRIVILEGED_DATA static volatile portBASE_TYPE xYieldPending = pdFALSE;
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212 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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213 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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214 PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = portMAX_DELAY;
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216 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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218 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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219 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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225 /* Debugging and trace facilities private variables and macros. ------------*/
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228 * The value used to fill the stack of a task when the task is created. This
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229 * is used purely for checking the high water mark for tasks.
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231 #define tskSTACK_FILL_BYTE ( 0xa5U )
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234 * Macros used by vListTask to indicate which state a task is in.
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236 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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237 #define tskREADY_CHAR ( ( signed char ) 'R' )
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238 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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239 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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241 /*-----------------------------------------------------------*/
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243 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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245 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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246 performed in a generic way that is not optimised to any particular
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247 microcontroller architecture. */
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249 /* uxTopReadyPriority holds the priority of the highest priority ready
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251 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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253 if( ( uxPriority ) > uxTopReadyPriority ) \
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255 uxTopReadyPriority = ( uxPriority ); \
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257 } /* taskRECORD_READY_PRIORITY */
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259 /*-----------------------------------------------------------*/
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261 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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263 /* Find the highest priority queue that contains ready tasks. */ \
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264 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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266 configASSERT( uxTopReadyPriority ); \
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267 --uxTopReadyPriority; \
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270 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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271 the same priority get an equal share of the processor time. */ \
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272 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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273 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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275 /*-----------------------------------------------------------*/
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277 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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278 they are only required when a port optimised method of task selection is
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280 #define taskRESET_READY_PRIORITY( uxPriority )
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281 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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283 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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285 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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286 performed in a way that is tailored to the particular microcontroller
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287 architecture being used. */
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289 /* A port optimised version is provided. Call the port defined macros. */
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290 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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292 /*-----------------------------------------------------------*/
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294 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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296 unsigned portBASE_TYPE uxTopPriority; \
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298 /* Find the highest priority queue that contains ready tasks. */ \
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299 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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300 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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301 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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302 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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304 /*-----------------------------------------------------------*/
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306 /* A port optimised version is provided, call it only if the TCB being reset
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307 is being referenced from a ready list. If it is referenced from a delayed
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308 or suspended list then it won't be in a ready list. */
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309 #define taskRESET_READY_PRIORITY( uxPriority ) \
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311 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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313 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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317 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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319 /*-----------------------------------------------------------*/
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321 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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322 count overflows. */
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323 #define taskSWITCH_DELAYED_LISTS() \
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327 /* The delayed tasks list should be empty when the lists are switched. */ \
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328 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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330 pxTemp = pxDelayedTaskList; \
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331 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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332 pxOverflowDelayedTaskList = pxTemp; \
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333 xNumOfOverflows++; \
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335 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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337 /* The new current delayed list is empty. Set \
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338 xNextTaskUnblockTime to the maximum possible value so it is \
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339 extremely unlikely that the \
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340 if( xTickCount >= xNextTaskUnblockTime ) test will pass until \
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341 there is an item in the delayed list. */ \
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342 xNextTaskUnblockTime = portMAX_DELAY; \
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346 /* The new current delayed list is not empty, get the value of \
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347 the item at the head of the delayed list. This is the time at \
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348 which the task at the head of the delayed list should be removed \
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349 from the Blocked state. */ \
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350 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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351 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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355 /*-----------------------------------------------------------*/
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358 * Place the task represented by pxTCB into the appropriate ready list for
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359 * the task. It is inserted at the end of the list.
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361 #define prvAddTaskToReadyList( pxTCB ) \
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362 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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363 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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364 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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365 /*-----------------------------------------------------------*/
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368 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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369 * where NULL is used to indicate that the handle of the currently executing
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370 * task should be used in place of the parameter. This macro simply checks to
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371 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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373 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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375 /* Callback function prototypes. --------------------------*/
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376 extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
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377 extern void vApplicationTickHook( void );
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379 /* File private functions. --------------------------------*/
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382 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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383 * into the TCB structure.
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385 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
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388 * Utility to ready all the lists used by the scheduler. This is called
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389 * automatically upon the creation of the first task.
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391 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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394 * The idle task, which as all tasks is implemented as a never ending loop.
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395 * The idle task is automatically created and added to the ready lists upon
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396 * creation of the first user task.
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398 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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399 * language extensions. The equivalent prototype for this function is:
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401 * void prvIdleTask( void *pvParameters );
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404 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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407 * Utility to free all memory allocated by the scheduler to hold a TCB,
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408 * including the stack pointed to by the TCB.
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410 * This does not free memory allocated by the task itself (i.e. memory
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411 * allocated by calls to pvPortMalloc from within the tasks application code).
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413 #if ( INCLUDE_vTaskDelete == 1 )
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415 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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420 * Used only by the idle task. This checks to see if anything has been placed
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421 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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422 * and its TCB deleted.
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424 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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427 * The currently executing task is entering the Blocked state. Add the task to
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428 * either the current or the overflow delayed task list.
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430 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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433 * Allocates memory from the heap for a TCB and associated stack. Checks the
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434 * allocation was successful.
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436 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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439 * Fills an xTaskStatusType structure with information on each task that is
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440 * referenced from the pxList list (which may be a ready list, a delayed list,
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441 * a suspended list, etc.).
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443 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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444 * NORMAL APPLICATION CODE.
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446 #if ( configUSE_TRACE_FACILITY == 1 )
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448 static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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453 * When a task is created, the stack of the task is filled with a known value.
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454 * This function determines the 'high water mark' of the task stack by
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455 * determining how much of the stack remains at the original preset value.
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457 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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459 static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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464 * Return the amount of time, in ticks, that will pass before the kernel will
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465 * next move a task from the Blocked state to the Running state.
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467 * This conditional compilation should use inequality to 0, not equality to 1.
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468 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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469 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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470 * set to a value other than 1.
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472 #if ( configUSE_TICKLESS_IDLE != 0 )
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474 static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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478 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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480 signed portBASE_TYPE xReturn;
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483 configASSERT( pxTaskCode );
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484 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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486 /* Allocate the memory required by the TCB and stack for the new task,
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487 checking that the allocation was successful. */
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488 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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490 if( pxNewTCB != NULL )
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492 portSTACK_TYPE *pxTopOfStack;
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494 #if( portUSING_MPU_WRAPPERS == 1 )
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495 /* Should the task be created in privileged mode? */
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496 portBASE_TYPE xRunPrivileged;
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497 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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499 xRunPrivileged = pdTRUE;
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503 xRunPrivileged = pdFALSE;
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505 uxPriority &= ~portPRIVILEGE_BIT;
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506 #endif /* portUSING_MPU_WRAPPERS == 1 */
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508 /* Calculate the top of stack address. This depends on whether the
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509 stack grows from high memory to low (as per the 80x86) or visa versa.
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510 portSTACK_GROWTH is used to make the result positive or negative as
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511 required by the port. */
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512 #if( portSTACK_GROWTH < 0 )
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514 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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515 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */
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517 /* Check the alignment of the calculated top of stack is correct. */
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518 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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520 #else /* portSTACK_GROWTH */
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522 pxTopOfStack = pxNewTCB->pxStack;
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524 /* Check the alignment of the stack buffer is correct. */
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525 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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527 /* If we want to use stack checking on architectures that use
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528 a positive stack growth direction then we also need to store the
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529 other extreme of the stack space. */
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530 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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532 #endif /* portSTACK_GROWTH */
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534 /* Setup the newly allocated TCB with the initial state of the task. */
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535 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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537 /* Initialize the TCB stack to look as if the task was already running,
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538 but had been interrupted by the scheduler. The return address is set
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539 to the start of the task function. Once the stack has been initialised
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540 the top of stack variable is updated. */
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541 #if( portUSING_MPU_WRAPPERS == 1 )
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543 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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545 #else /* portUSING_MPU_WRAPPERS */
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547 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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549 #endif /* portUSING_MPU_WRAPPERS */
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551 if( ( void * ) pxCreatedTask != NULL )
\r
553 /* Pass the TCB out - in an anonymous way. The calling function/
\r
554 task can use this as a handle to delete the task later if
\r
556 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
\r
559 /* Ensure interrupts don't access the task lists while they are being
\r
561 taskENTER_CRITICAL();
\r
563 uxCurrentNumberOfTasks++;
\r
564 if( pxCurrentTCB == NULL )
\r
566 /* There are no other tasks, or all the other tasks are in
\r
567 the suspended state - make this the current task. */
\r
568 pxCurrentTCB = pxNewTCB;
\r
570 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
572 /* This is the first task to be created so do the preliminary
\r
573 initialisation required. We will not recover if this call
\r
574 fails, but we will report the failure. */
\r
575 prvInitialiseTaskLists();
\r
580 /* If the scheduler is not already running, make this task the
\r
581 current task if it is the highest priority task to be created
\r
583 if( xSchedulerRunning == pdFALSE )
\r
585 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
587 pxCurrentTCB = pxNewTCB;
\r
594 #if ( configUSE_TRACE_FACILITY == 1 )
\r
596 /* Add a counter into the TCB for tracing only. */
\r
597 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
599 #endif /* configUSE_TRACE_FACILITY */
\r
600 traceTASK_CREATE( pxNewTCB );
\r
602 prvAddTaskToReadyList( pxNewTCB );
\r
605 portSETUP_TCB( pxNewTCB );
\r
607 taskEXIT_CRITICAL();
\r
611 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
612 traceTASK_CREATE_FAILED();
\r
615 if( xReturn == pdPASS )
\r
617 if( xSchedulerRunning != pdFALSE )
\r
619 /* If the created task is of a higher priority than the current task
\r
620 then it should run now. */
\r
621 if( pxCurrentTCB->uxPriority < uxPriority )
\r
623 portYIELD_WITHIN_API();
\r
630 /*-----------------------------------------------------------*/
\r
632 #if ( INCLUDE_vTaskDelete == 1 )
\r
634 void vTaskDelete( xTaskHandle xTaskToDelete )
\r
638 taskENTER_CRITICAL();
\r
640 /* If null is passed in here then we are deleting ourselves. */
\r
641 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
643 /* Remove task from the ready list and place in the termination list.
\r
644 This will stop the task from be scheduled. The idle task will check
\r
645 the termination list and free up any memory allocated by the
\r
646 scheduler for the TCB and stack. */
\r
647 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
649 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
652 /* Is the task waiting on an event also? */
\r
653 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
655 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
658 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
660 /* Increment the ucTasksDeleted variable so the idle task knows
\r
661 there is a task that has been deleted and that it should therefore
\r
662 check the xTasksWaitingTermination list. */
\r
665 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
666 can detect that the task lists need re-generating. */
\r
669 traceTASK_DELETE( pxTCB );
\r
671 taskEXIT_CRITICAL();
\r
673 /* Force a reschedule if we have just deleted the current task. */
\r
674 if( xSchedulerRunning != pdFALSE )
\r
676 if( pxTCB == pxCurrentTCB )
\r
678 portYIELD_WITHIN_API();
\r
683 #endif /* INCLUDE_vTaskDelete */
\r
684 /*-----------------------------------------------------------*/
\r
686 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
688 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
690 portTickType xTimeToWake;
\r
691 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
693 configASSERT( pxPreviousWakeTime );
\r
694 configASSERT( ( xTimeIncrement > 0U ) );
\r
698 /* Minor optimisation. The tick count cannot change in this
\r
700 const portTickType xConstTickCount = xTickCount;
\r
702 /* Generate the tick time at which the task wants to wake. */
\r
703 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
705 if( xConstTickCount < *pxPreviousWakeTime )
\r
707 /* The tick count has overflowed since this function was
\r
708 lasted called. In this case the only time we should ever
\r
709 actually delay is if the wake time has also overflowed,
\r
710 and the wake time is greater than the tick time. When this
\r
711 is the case it is as if neither time had overflowed. */
\r
712 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
714 xShouldDelay = pdTRUE;
\r
719 /* The tick time has not overflowed. In this case we will
\r
720 delay if either the wake time has overflowed, and/or the
\r
721 tick time is less than the wake time. */
\r
722 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
724 xShouldDelay = pdTRUE;
\r
728 /* Update the wake time ready for the next call. */
\r
729 *pxPreviousWakeTime = xTimeToWake;
\r
731 if( xShouldDelay != pdFALSE )
\r
733 traceTASK_DELAY_UNTIL();
\r
735 /* We must remove ourselves from the ready list before adding
\r
736 ourselves to the blocked list as the same list item is used for
\r
738 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
740 /* The current task must be in a ready list, so there is
\r
741 no need to check, and the port reset macro can be called
\r
743 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
746 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
749 xAlreadyYielded = xTaskResumeAll();
\r
751 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
752 have put ourselves to sleep. */
\r
753 if( xAlreadyYielded == pdFALSE )
\r
755 portYIELD_WITHIN_API();
\r
759 #endif /* INCLUDE_vTaskDelayUntil */
\r
760 /*-----------------------------------------------------------*/
\r
762 #if ( INCLUDE_vTaskDelay == 1 )
\r
764 void vTaskDelay( portTickType xTicksToDelay )
\r
766 portTickType xTimeToWake;
\r
767 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
769 /* A delay time of zero just forces a reschedule. */
\r
770 if( xTicksToDelay > ( portTickType ) 0U )
\r
776 /* A task that is removed from the event list while the
\r
777 scheduler is suspended will not get placed in the ready
\r
778 list or removed from the blocked list until the scheduler
\r
781 This task cannot be in an event list as it is the currently
\r
784 /* Calculate the time to wake - this may overflow but this is
\r
786 xTimeToWake = xTickCount + xTicksToDelay;
\r
788 /* We must remove ourselves from the ready list before adding
\r
789 ourselves to the blocked list as the same list item is used for
\r
791 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
793 /* The current task must be in a ready list, so there is
\r
794 no need to check, and the port reset macro can be called
\r
796 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
798 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
800 xAlreadyYielded = xTaskResumeAll();
\r
803 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
804 have put ourselves to sleep. */
\r
805 if( xAlreadyYielded == pdFALSE )
\r
807 portYIELD_WITHIN_API();
\r
811 #endif /* INCLUDE_vTaskDelay */
\r
812 /*-----------------------------------------------------------*/
\r
814 #if ( INCLUDE_eTaskGetState == 1 )
\r
816 eTaskState eTaskGetState( xTaskHandle xTask )
\r
818 eTaskState eReturn;
\r
819 xList *pxStateList;
\r
820 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
822 if( pxTCB == pxCurrentTCB )
\r
824 /* The task calling this function is querying its own state. */
\r
825 eReturn = eRunning;
\r
829 taskENTER_CRITICAL();
\r
831 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
833 taskEXIT_CRITICAL();
\r
835 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
837 /* The task being queried is referenced from one of the Blocked
\r
839 eReturn = eBlocked;
\r
842 #if ( INCLUDE_vTaskSuspend == 1 )
\r
843 else if( pxStateList == &xSuspendedTaskList )
\r
845 /* The task being queried is referenced from the suspended
\r
847 eReturn = eSuspended;
\r
851 #if ( INCLUDE_vTaskDelete == 1 )
\r
852 else if( pxStateList == &xTasksWaitingTermination )
\r
854 /* The task being queried is referenced from the deleted
\r
856 eReturn = eDeleted;
\r
862 /* If the task is not in any other state, it must be in the
\r
863 Ready (including pending ready) state. */
\r
871 #endif /* INCLUDE_eTaskGetState */
\r
872 /*-----------------------------------------------------------*/
\r
874 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
876 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
\r
879 unsigned portBASE_TYPE uxReturn;
\r
881 taskENTER_CRITICAL();
\r
883 /* If null is passed in here then we are changing the
\r
884 priority of the calling function. */
\r
885 pxTCB = prvGetTCBFromHandle( xTask );
\r
886 uxReturn = pxTCB->uxPriority;
\r
888 taskEXIT_CRITICAL();
\r
893 #endif /* INCLUDE_uxTaskPriorityGet */
\r
894 /*-----------------------------------------------------------*/
\r
896 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
898 void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
\r
901 unsigned portBASE_TYPE uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
902 portBASE_TYPE xYieldRequired = pdFALSE;
\r
904 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
906 /* Ensure the new priority is valid. */
\r
907 if( uxNewPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
\r
909 uxNewPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
912 taskENTER_CRITICAL();
\r
914 /* If null is passed in here then it is the priority of the calling
\r
915 task that is being changed. */
\r
916 pxTCB = prvGetTCBFromHandle( xTask );
\r
918 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
920 #if ( configUSE_MUTEXES == 1 )
\r
922 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
926 uxCurrentBasePriority = pxTCB->uxPriority;
\r
930 if( uxCurrentBasePriority != uxNewPriority )
\r
932 /* The priority change may have readied a task of higher
\r
933 priority than the calling task. */
\r
934 if( uxNewPriority > uxCurrentBasePriority )
\r
936 if( pxTCB != pxCurrentTCB )
\r
938 /* The priority of a task other than the currently
\r
939 running task is being raised. Is the priority being
\r
940 raised above that of the running task? */
\r
941 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
943 xYieldRequired = pdTRUE;
\r
948 /* The priority of the running task is being raised,
\r
949 but the running task must already be the highest
\r
950 priority task able to run so no yield is required. */
\r
953 else if( pxTCB == pxCurrentTCB )
\r
955 /* Setting the priority of the running task down means
\r
956 there may now be another task of higher priority that
\r
957 is ready to execute. */
\r
958 xYieldRequired = pdTRUE;
\r
962 /* Setting the priority of any other task down does not
\r
963 require a yield as the running task must be above the
\r
964 new priority of the task being modified. */
\r
967 /* Remember the ready list the task might be referenced from
\r
968 before its uxPriority member is changed so the
\r
969 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
970 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
972 #if ( configUSE_MUTEXES == 1 )
\r
974 /* Only change the priority being used if the task is not
\r
975 currently using an inherited priority. */
\r
976 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
978 pxTCB->uxPriority = uxNewPriority;
\r
981 /* The base priority gets set whatever. */
\r
982 pxTCB->uxBasePriority = uxNewPriority;
\r
986 pxTCB->uxPriority = uxNewPriority;
\r
990 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
992 /* If the task is in the blocked or suspended list we need do
\r
993 nothing more than change it's priority variable. However, if
\r
994 the task is in a ready list it needs to be removed and placed
\r
995 in the list appropriate to its new priority. */
\r
996 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
998 /* The task is currently in its ready list - remove before adding
\r
999 it to it's new ready list. As we are in a critical section we
\r
1000 can do this even if the scheduler is suspended. */
\r
1001 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1003 /* It is known that the task is in its ready list so
\r
1004 there is no need to check again and the port level
\r
1005 reset macro can be called directly. */
\r
1006 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1008 prvAddTaskToReadyList( pxTCB );
\r
1011 if( xYieldRequired == pdTRUE )
\r
1013 portYIELD_WITHIN_API();
\r
1016 /* Remove compiler warning about unused variables when the port
\r
1017 optimised task selection is not being used. */
\r
1018 ( void ) uxPriorityUsedOnEntry;
\r
1021 taskEXIT_CRITICAL();
\r
1024 #endif /* INCLUDE_vTaskPrioritySet */
\r
1025 /*-----------------------------------------------------------*/
\r
1027 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1029 void vTaskSuspend( xTaskHandle xTaskToSuspend )
\r
1033 taskENTER_CRITICAL();
\r
1035 /* If null is passed in here then it is the running task that is
\r
1036 being suspended. */
\r
1037 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1039 traceTASK_SUSPEND( pxTCB );
\r
1041 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
1042 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1044 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1047 /* Is the task waiting on an event also? */
\r
1048 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1050 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1053 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1055 taskEXIT_CRITICAL();
\r
1057 if( pxTCB == pxCurrentTCB )
\r
1059 if( xSchedulerRunning != pdFALSE )
\r
1061 /* The current task has just been suspended. */
\r
1062 portYIELD_WITHIN_API();
\r
1066 /* The scheduler is not running, but the task that was pointed
\r
1067 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1068 must be adjusted to point to a different task. */
\r
1069 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1071 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1072 NULL so when the next task is created pxCurrentTCB will
\r
1073 be set to point to it no matter what its relative priority
\r
1075 pxCurrentTCB = NULL;
\r
1079 vTaskSwitchContext();
\r
1085 #endif /* INCLUDE_vTaskSuspend */
\r
1086 /*-----------------------------------------------------------*/
\r
1088 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1090 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
1092 portBASE_TYPE xReturn = pdFALSE;
\r
1093 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1095 /* It does not make sense to check if the calling task is suspended. */
\r
1096 configASSERT( xTask );
\r
1098 /* Is the task we are attempting to resume actually in the
\r
1099 suspended list? */
\r
1100 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1102 /* Has the task already been resumed from within an ISR? */
\r
1103 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1105 /* Is it in the suspended list because it is in the
\r
1106 Suspended state? It is possible to be in the suspended
\r
1107 list because it is blocked on a task with no timeout
\r
1109 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1117 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1119 #endif /* INCLUDE_vTaskSuspend */
\r
1120 /*-----------------------------------------------------------*/
\r
1122 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1124 void vTaskResume( xTaskHandle xTaskToResume )
\r
1126 tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
\r
1128 /* It does not make sense to resume the calling task. */
\r
1129 configASSERT( xTaskToResume );
\r
1131 /* The parameter cannot be NULL as it is impossible to resume the
\r
1132 currently executing task. */
\r
1133 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1135 taskENTER_CRITICAL();
\r
1137 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1139 traceTASK_RESUME( pxTCB );
\r
1141 /* As we are in a critical section we can access the ready
\r
1142 lists even if the scheduler is suspended. */
\r
1143 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1144 prvAddTaskToReadyList( pxTCB );
\r
1146 /* We may have just resumed a higher priority task. */
\r
1147 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1149 /* This yield may not cause the task just resumed to run, but
\r
1150 will leave the lists in the correct state for the next yield. */
\r
1151 portYIELD_WITHIN_API();
\r
1155 taskEXIT_CRITICAL();
\r
1159 #endif /* INCLUDE_vTaskSuspend */
\r
1161 /*-----------------------------------------------------------*/
\r
1163 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1165 portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
\r
1167 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1168 tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
\r
1169 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1171 configASSERT( xTaskToResume );
\r
1173 /* RTOS ports that support interrupt nesting have the concept of a
\r
1174 maximum system call (or maximum API call) interrupt priority.
\r
1175 Interrupts that are above the maximum system call priority are keep
\r
1176 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1177 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1178 is defined in FreeRTOSConfig.h then
\r
1179 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1180 failure if a FreeRTOS API function is called from an interrupt that has
\r
1181 been assigned a priority above the configured maximum system call
\r
1182 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1183 from interrupts that have been assigned a priority at or (logically)
\r
1184 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1185 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1186 simple as possible. More information (albeit Cortex-M specific) is
\r
1187 provided on the following link:
\r
1188 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1189 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1191 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1193 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1195 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1197 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1199 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1201 xYieldRequired = pdTRUE;
\r
1204 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1205 prvAddTaskToReadyList( pxTCB );
\r
1209 /* We cannot access the delayed or ready lists, so will hold this
\r
1210 task pending until the scheduler is resumed, at which point a
\r
1211 yield will be performed if necessary. */
\r
1212 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1216 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1218 return xYieldRequired;
\r
1221 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1222 /*-----------------------------------------------------------*/
\r
1224 void vTaskStartScheduler( void )
\r
1226 portBASE_TYPE xReturn;
\r
1228 /* Add the idle task at the lowest priority. */
\r
1229 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1231 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1232 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1233 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1237 /* Create the idle task without storing its handle. */
\r
1238 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1240 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1242 #if ( configUSE_TIMERS == 1 )
\r
1244 if( xReturn == pdPASS )
\r
1246 xReturn = xTimerCreateTimerTask();
\r
1249 #endif /* configUSE_TIMERS */
\r
1251 if( xReturn == pdPASS )
\r
1253 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1254 before or during the call to xPortStartScheduler(). The stacks of
\r
1255 the created tasks contain a status word with interrupts switched on
\r
1256 so interrupts will automatically get re-enabled when the first task
\r
1258 portDISABLE_INTERRUPTS();
\r
1260 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1262 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1263 structure specific to the task that will run first. */
\r
1264 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1266 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1268 xSchedulerRunning = pdTRUE;
\r
1269 xTickCount = ( portTickType ) 0U;
\r
1271 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1272 macro must be defined to configure the timer/counter used to generate
\r
1273 the run time counter time base. */
\r
1274 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1276 /* Setting up the timer tick is hardware specific and thus in the
\r
1277 portable interface. */
\r
1278 if( xPortStartScheduler() != pdFALSE )
\r
1280 /* Should not reach here as if the scheduler is running the
\r
1281 function will not return. */
\r
1285 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1290 /* This line will only be reached if the kernel could not be started,
\r
1291 because there was not enough FreeRTOS heap to create the idle task
\r
1292 or the timer task. */
\r
1293 configASSERT( xReturn );
\r
1296 /*-----------------------------------------------------------*/
\r
1298 void vTaskEndScheduler( void )
\r
1300 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1301 routine so the original ISRs can be restored if necessary. The port
\r
1302 layer must ensure interrupts enable bit is left in the correct state. */
\r
1303 portDISABLE_INTERRUPTS();
\r
1304 xSchedulerRunning = pdFALSE;
\r
1305 vPortEndScheduler();
\r
1307 /*----------------------------------------------------------*/
\r
1309 void vTaskSuspendAll( void )
\r
1311 /* A critical section is not required as the variable is of type
\r
1313 ++uxSchedulerSuspended;
\r
1315 /*----------------------------------------------------------*/
\r
1317 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1319 static portTickType prvGetExpectedIdleTime( void )
\r
1321 portTickType xReturn;
\r
1323 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1327 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1329 /* There are other idle priority tasks in the ready state. If
\r
1330 time slicing is used then the very next tick interrupt must be
\r
1336 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1342 #endif /* configUSE_TICKLESS_IDLE */
\r
1343 /*----------------------------------------------------------*/
\r
1345 signed portBASE_TYPE xTaskResumeAll( void )
\r
1348 portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1350 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1351 previous call to vTaskSuspendAll(). */
\r
1352 configASSERT( uxSchedulerSuspended );
\r
1354 /* It is possible that an ISR caused a task to be removed from an event
\r
1355 list while the scheduler was suspended. If this was the case then the
\r
1356 removed task will have been added to the xPendingReadyList. Once the
\r
1357 scheduler has been resumed it is safe to move all the pending ready
\r
1358 tasks from this list into their appropriate ready list. */
\r
1359 taskENTER_CRITICAL();
\r
1361 --uxSchedulerSuspended;
\r
1363 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1365 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1367 /* Move any readied tasks from the pending list into the
\r
1368 appropriate ready list. */
\r
1369 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1371 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1372 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1373 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1374 prvAddTaskToReadyList( pxTCB );
\r
1376 /* If we have moved a task that has a priority higher than
\r
1377 the current task then we should yield. */
\r
1378 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1380 xYieldPending = pdTRUE;
\r
1384 /* If any ticks occurred while the scheduler was suspended then
\r
1385 they should be processed now. This ensures the tick count does not
\r
1386 slip, and that any delayed tasks are resumed at the correct time. */
\r
1387 if( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1389 while( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1391 if( xTaskIncrementTick() != pdFALSE )
\r
1393 xYieldPending = pdTRUE;
\r
1399 if( xYieldPending == pdTRUE )
\r
1401 xAlreadyYielded = pdTRUE;
\r
1402 portYIELD_WITHIN_API();
\r
1407 taskEXIT_CRITICAL();
\r
1409 return xAlreadyYielded;
\r
1411 /*-----------------------------------------------------------*/
\r
1413 portTickType xTaskGetTickCount( void )
\r
1415 portTickType xTicks;
\r
1417 /* Critical section required if running on a 16 bit processor. */
\r
1418 taskENTER_CRITICAL();
\r
1420 xTicks = xTickCount;
\r
1422 taskEXIT_CRITICAL();
\r
1426 /*-----------------------------------------------------------*/
\r
1428 portTickType xTaskGetTickCountFromISR( void )
\r
1430 portTickType xReturn;
\r
1431 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1433 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1434 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1435 above the maximum system call priority are keep permanently enabled, even
\r
1436 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1437 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1438 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1439 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1440 assigned a priority above the configured maximum system call priority.
\r
1441 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1442 that have been assigned a priority at or (logically) below the maximum
\r
1443 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1444 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1445 More information (albeit Cortex-M specific) is provided on the following
\r
1446 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1447 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1449 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1450 xReturn = xTickCount;
\r
1451 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1455 /*-----------------------------------------------------------*/
\r
1457 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1459 /* A critical section is not required because the variables are of type
\r
1461 return uxCurrentNumberOfTasks;
\r
1463 /*-----------------------------------------------------------*/
\r
1465 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1467 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1471 /* If null is passed in here then the name of the calling task is being queried. */
\r
1472 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1473 configASSERT( pxTCB );
\r
1474 return &( pxTCB->pcTaskName[ 0 ] );
\r
1477 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1478 /*-----------------------------------------------------------*/
\r
1480 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1482 unsigned portBASE_TYPE uxTaskGetSystemState( xTaskStatusType *pxTaskStatusArray, unsigned portBASE_TYPE uxArraySize, unsigned long *pulTotalRunTime )
\r
1484 unsigned portBASE_TYPE uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1486 vTaskSuspendAll();
\r
1488 /* Is there a space in the array for each task in the system? */
\r
1489 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1491 /* Fill in an xTaskStatusType structure with information on each
\r
1492 task in the Ready state. */
\r
1496 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1498 } while( uxQueue > ( unsigned portBASE_TYPE ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1500 /* Fill in an xTaskStatusType structure with information on each
\r
1501 task in the Blocked state. */
\r
1502 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxDelayedTaskList, eBlocked );
\r
1503 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxOverflowDelayedTaskList, eBlocked );
\r
1505 #if( INCLUDE_vTaskDelete == 1 )
\r
1507 /* Fill in an xTaskStatusType structure with information on
\r
1508 each task that has been deleted but not yet cleaned up. */
\r
1509 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1513 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1515 /* Fill in an xTaskStatusType structure with information on
\r
1516 each task in the Suspended state. */
\r
1517 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1521 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1523 if( pulTotalRunTime != NULL )
\r
1525 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1526 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
1528 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1534 if( pulTotalRunTime != NULL )
\r
1536 *pulTotalRunTime = 0;
\r
1542 ( void ) xTaskResumeAll();
\r
1547 #endif /* configUSE_TRACE_FACILITY */
\r
1548 /*----------------------------------------------------------*/
\r
1550 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1552 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1554 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1555 started, then xIdleTaskHandle will be NULL. */
\r
1556 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1557 return xIdleTaskHandle;
\r
1560 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1561 /*----------------------------------------------------------*/
\r
1563 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1564 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1565 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1567 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1569 void vTaskStepTick( portTickType xTicksToJump )
\r
1571 /* Correct the tick count value after a period during which the tick
\r
1572 was suppressed. Note this does *not* call the tick hook function for
\r
1573 each stepped tick. */
\r
1574 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1575 xTickCount += xTicksToJump;
\r
1576 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
1579 #endif /* configUSE_TICKLESS_IDLE */
\r
1580 /*----------------------------------------------------------*/
\r
1582 portBASE_TYPE xTaskIncrementTick( void )
\r
1585 portTickType xItemValue;
\r
1586 portBASE_TYPE xSwitchRequired = pdFALSE;
\r
1588 /* Called by the portable layer each time a tick interrupt occurs.
\r
1589 Increments the tick then checks to see if the new tick value will cause any
\r
1590 tasks to be unblocked. */
\r
1591 traceTASK_INCREMENT_TICK( xTickCount );
\r
1592 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1594 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1595 delayed lists if it wraps to 0. */
\r
1599 /* Minor optimisation. The tick count cannot change in this
\r
1601 const portTickType xConstTickCount = xTickCount;
\r
1603 if( xConstTickCount == ( portTickType ) 0U )
\r
1605 taskSWITCH_DELAYED_LISTS();
\r
1608 /* See if this tick has made a timeout expire. Tasks are stored in the
\r
1609 queue in the order of their wake time - meaning once one tasks has been
\r
1610 found whose block time has not expired there is no need not look any
\r
1611 further down the list. */
\r
1612 if( xConstTickCount >= xNextTaskUnblockTime )
\r
1616 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1618 /* The delayed list is empty. Set xNextTaskUnblockTime to
\r
1619 the maximum possible value so it is extremely unlikely that
\r
1620 the if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1621 next time through. */
\r
1622 xNextTaskUnblockTime = portMAX_DELAY;
\r
1627 /* The delayed list is not empty, get the value of the item
\r
1628 at the head of the delayed list. This is the time at which
\r
1629 the task at the head of the delayed list must be removed
\r
1630 from the Blocked state. */
\r
1631 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1632 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1634 if( xConstTickCount < xItemValue )
\r
1636 /* It is not time to unblock this item yet, but the item
\r
1637 value is the time at which the task at the head of the
\r
1638 blocked list must be removed from the Blocked state -
\r
1639 so record the item value in xNextTaskUnblockTime. */
\r
1640 xNextTaskUnblockTime = xItemValue;
\r
1644 /* It is time to remove the item from the Blocked state. */
\r
1645 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1647 /* Is the task waiting on an event also? If so remove it
\r
1648 from the event list. */
\r
1649 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1651 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1654 /* Place the unblocked task into the appropriate ready
\r
1656 prvAddTaskToReadyList( pxTCB );
\r
1658 /* A task being unblocked cannot cause an immediate context
\r
1659 switch if preemption is turned off. */
\r
1660 #if ( configUSE_PREEMPTION == 1 )
\r
1662 /* Preemption is on, but a context switch should only
\r
1663 be performed if the unblocked task has a priority that
\r
1664 is equal to or higher than the currently executing
\r
1666 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1668 xSwitchRequired = pdTRUE;
\r
1671 #endif /* configUSE_PREEMPTION */
\r
1677 /* Tasks of equal priority to the currently running task will share
\r
1678 processing time (time slice) if preemption is on, and the application
\r
1679 writer has not explicitly turned time slicing off. */
\r
1680 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
1682 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1684 xSwitchRequired = pdTRUE;
\r
1687 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
1689 #if ( configUSE_TICK_HOOK == 1 )
\r
1691 /* Guard against the tick hook being called when the pended tick
\r
1692 count is being unwound (when the scheduler is being unlocked). */
\r
1693 if( uxPendedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1695 vApplicationTickHook();
\r
1698 #endif /* configUSE_TICK_HOOK */
\r
1704 /* The tick hook gets called at regular intervals, even if the
\r
1705 scheduler is locked. */
\r
1706 #if ( configUSE_TICK_HOOK == 1 )
\r
1708 vApplicationTickHook();
\r
1713 #if ( configUSE_PREEMPTION == 1 )
\r
1715 if( xYieldPending != pdFALSE )
\r
1717 xSwitchRequired = pdTRUE;
\r
1720 #endif /* configUSE_PREEMPTION */
\r
1722 return xSwitchRequired;
\r
1724 /*-----------------------------------------------------------*/
\r
1726 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1728 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1732 /* If xTask is NULL then we are setting our own task hook. */
\r
1733 if( xTask == NULL )
\r
1735 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1739 xTCB = ( tskTCB * ) xTask;
\r
1742 /* Save the hook function in the TCB. A critical section is required as
\r
1743 the value can be accessed from an interrupt. */
\r
1744 taskENTER_CRITICAL();
\r
1745 xTCB->pxTaskTag = pxHookFunction;
\r
1746 taskEXIT_CRITICAL();
\r
1749 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1750 /*-----------------------------------------------------------*/
\r
1752 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1754 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1757 pdTASK_HOOK_CODE xReturn;
\r
1759 /* If xTask is NULL then we are setting our own task hook. */
\r
1760 if( xTask == NULL )
\r
1762 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1766 xTCB = ( tskTCB * ) xTask;
\r
1769 /* Save the hook function in the TCB. A critical section is required as
\r
1770 the value can be accessed from an interrupt. */
\r
1771 taskENTER_CRITICAL();
\r
1772 xReturn = xTCB->pxTaskTag;
\r
1773 taskEXIT_CRITICAL();
\r
1778 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1779 /*-----------------------------------------------------------*/
\r
1781 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1783 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1786 portBASE_TYPE xReturn;
\r
1788 /* If xTask is NULL then we are calling our own task hook. */
\r
1789 if( xTask == NULL )
\r
1791 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1795 xTCB = ( tskTCB * ) xTask;
\r
1798 if( xTCB->pxTaskTag != NULL )
\r
1800 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1810 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1811 /*-----------------------------------------------------------*/
\r
1813 void vTaskSwitchContext( void )
\r
1815 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1817 /* The scheduler is currently suspended - do not allow a context
\r
1819 xYieldPending = pdTRUE;
\r
1823 xYieldPending = pdFALSE;
\r
1824 traceTASK_SWITCHED_OUT();
\r
1826 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1828 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1829 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1831 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1834 /* Add the amount of time the task has been running to the
\r
1835 accumulated time so far. The time the task started running was
\r
1836 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
1837 protection here so count values are only valid until the timer
\r
1838 overflows. The guard against negative values is to protect
\r
1839 against suspect run time stat counter implementations - which
\r
1840 are provided by the application, not the kernel. */
\r
1841 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
1843 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
1845 ulTaskSwitchedInTime = ulTotalRunTime;
\r
1847 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1849 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1850 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1852 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
1854 traceTASK_SWITCHED_IN();
\r
1856 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1858 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1859 structure specific to this task. */
\r
1860 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1862 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1865 /*-----------------------------------------------------------*/
\r
1867 void vTaskPlaceOnEventList( xList * const pxEventList, portTickType xTicksToWait )
\r
1869 portTickType xTimeToWake;
\r
1871 configASSERT( pxEventList );
\r
1873 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1874 SCHEDULER SUSPENDED. */
\r
1876 /* Place the event list item of the TCB in the appropriate event list.
\r
1877 This is placed in the list in priority order so the highest priority task
\r
1878 is the first to be woken by the event. */
\r
1879 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
1881 /* We must remove ourselves from the ready list before adding ourselves
\r
1882 to the blocked list as the same list item is used for both lists. We have
\r
1883 exclusive access to the ready lists as the scheduler is locked. */
\r
1884 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1886 /* The current task must be in a ready list, so there is no need to
\r
1887 check, and the port reset macro can be called directly. */
\r
1888 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1891 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1893 if( xTicksToWait == portMAX_DELAY )
\r
1895 /* Add ourselves to the suspended task list instead of a delayed task
\r
1896 list to ensure we are not woken by a timing event. We will block
\r
1898 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
1902 /* Calculate the time at which the task should be woken if the event does
\r
1903 not occur. This may overflow but this doesn't matter. */
\r
1904 xTimeToWake = xTickCount + xTicksToWait;
\r
1905 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1908 #else /* INCLUDE_vTaskSuspend */
\r
1910 /* Calculate the time at which the task should be woken if the event does
\r
1911 not occur. This may overflow but this doesn't matter. */
\r
1912 xTimeToWake = xTickCount + xTicksToWait;
\r
1913 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1915 #endif /* INCLUDE_vTaskSuspend */
\r
1917 /*-----------------------------------------------------------*/
\r
1919 #if configUSE_TIMERS == 1
\r
1921 void vTaskPlaceOnEventListRestricted( xList * const pxEventList, portTickType xTicksToWait )
\r
1923 portTickType xTimeToWake;
\r
1925 configASSERT( pxEventList );
\r
1927 /* This function should not be called by application code hence the
\r
1928 'Restricted' in its name. It is not part of the public API. It is
\r
1929 designed for use by kernel code, and has special calling requirements -
\r
1930 it should be called from a critical section. */
\r
1933 /* Place the event list item of the TCB in the appropriate event list.
\r
1934 In this case it is assume that this is the only task that is going to
\r
1935 be waiting on this event list, so the faster vListInsertEnd() function
\r
1936 can be used in place of vListInsert. */
\r
1937 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
1939 /* We must remove this task from the ready list before adding it to the
\r
1940 blocked list as the same list item is used for both lists. This
\r
1941 function is called form a critical section. */
\r
1942 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1944 /* The current task must be in a ready list, so there is no need to
\r
1945 check, and the port reset macro can be called directly. */
\r
1946 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1949 /* Calculate the time at which the task should be woken if the event does
\r
1950 not occur. This may overflow but this doesn't matter. */
\r
1951 xTimeToWake = xTickCount + xTicksToWait;
\r
1953 traceTASK_DELAY_UNTIL();
\r
1954 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1957 #endif /* configUSE_TIMERS */
\r
1958 /*-----------------------------------------------------------*/
\r
1960 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1962 tskTCB *pxUnblockedTCB;
\r
1963 portBASE_TYPE xReturn;
\r
1965 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1966 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1968 /* The event list is sorted in priority order, so we can remove the
\r
1969 first in the list, remove the TCB from the delayed list, and add
\r
1970 it to the ready list.
\r
1972 If an event is for a queue that is locked then this function will never
\r
1973 get called - the lock count on the queue will get modified instead. This
\r
1974 means we can always expect exclusive access to the event list here.
\r
1976 This function assumes that a check has already been made to ensure that
\r
1977 pxEventList is not empty. */
\r
1978 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1979 configASSERT( pxUnblockedTCB );
\r
1980 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1982 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1984 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1985 prvAddTaskToReadyList( pxUnblockedTCB );
\r
1989 /* We cannot access the delayed or ready lists, so will hold this
\r
1990 task pending until the scheduler is resumed. */
\r
1991 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1994 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1996 /* Return true if the task removed from the event list has
\r
1997 a higher priority than the calling task. This allows
\r
1998 the calling task to know if it should force a context
\r
2002 /* Mark that a yield is pending in case the user is not using the
\r
2003 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2004 xYieldPending = pdTRUE;
\r
2008 xReturn = pdFALSE;
\r
2013 /*-----------------------------------------------------------*/
\r
2015 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
2017 configASSERT( pxTimeOut );
\r
2018 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2019 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2021 /*-----------------------------------------------------------*/
\r
2023 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
2025 portBASE_TYPE xReturn;
\r
2027 configASSERT( pxTimeOut );
\r
2028 configASSERT( pxTicksToWait );
\r
2030 taskENTER_CRITICAL();
\r
2032 /* Minor optimisation. The tick count cannot change in this block. */
\r
2033 const portTickType xConstTickCount = xTickCount;
\r
2035 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2036 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2037 the maximum block time then the task should block indefinitely, and
\r
2038 therefore never time out. */
\r
2039 if( *pxTicksToWait == portMAX_DELAY )
\r
2041 xReturn = pdFALSE;
\r
2043 else /* We are not blocking indefinitely, perform the checks below. */
\r
2046 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2048 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2049 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2050 It must have wrapped all the way around and gone past us again. This
\r
2051 passed since vTaskSetTimeout() was called. */
\r
2054 else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
2056 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2057 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2058 vTaskSetTimeOutState( pxTimeOut );
\r
2059 xReturn = pdFALSE;
\r
2066 taskEXIT_CRITICAL();
\r
2070 /*-----------------------------------------------------------*/
\r
2072 void vTaskMissedYield( void )
\r
2074 xYieldPending = pdTRUE;
\r
2076 /*-----------------------------------------------------------*/
\r
2078 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2080 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
2082 unsigned portBASE_TYPE uxReturn;
\r
2085 if( xTask != NULL )
\r
2087 pxTCB = ( tskTCB * ) xTask;
\r
2088 uxReturn = pxTCB->uxTaskNumber;
\r
2098 #endif /* configUSE_TRACE_FACILITY */
\r
2099 /*-----------------------------------------------------------*/
\r
2101 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2103 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
2107 if( xTask != NULL )
\r
2109 pxTCB = ( tskTCB * ) xTask;
\r
2110 pxTCB->uxTaskNumber = uxHandle;
\r
2114 #endif /* configUSE_TRACE_FACILITY */
\r
2117 * -----------------------------------------------------------
\r
2119 * ----------------------------------------------------------
\r
2121 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2122 * language extensions. The equivalent prototype for this function is:
\r
2124 * void prvIdleTask( void *pvParameters );
\r
2127 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2129 /* Stop warnings. */
\r
2130 ( void ) pvParameters;
\r
2134 /* See if any tasks have been deleted. */
\r
2135 prvCheckTasksWaitingTermination();
\r
2137 #if ( configUSE_PREEMPTION == 0 )
\r
2139 /* If we are not using preemption we keep forcing a task switch to
\r
2140 see if any other task has become available. If we are using
\r
2141 preemption we don't need to do this as any task becoming available
\r
2142 will automatically get the processor anyway. */
\r
2145 #endif /* configUSE_PREEMPTION */
\r
2147 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2149 /* When using preemption tasks of equal priority will be
\r
2150 timesliced. If a task that is sharing the idle priority is ready
\r
2151 to run then the idle task should yield before the end of the
\r
2154 A critical region is not required here as we are just reading from
\r
2155 the list, and an occasional incorrect value will not matter. If
\r
2156 the ready list at the idle priority contains more than one task
\r
2157 then a task other than the idle task is ready to execute. */
\r
2158 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2163 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2165 #if ( configUSE_IDLE_HOOK == 1 )
\r
2167 extern void vApplicationIdleHook( void );
\r
2169 /* Call the user defined function from within the idle task. This
\r
2170 allows the application designer to add background functionality
\r
2171 without the overhead of a separate task.
\r
2172 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2173 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2174 vApplicationIdleHook();
\r
2176 #endif /* configUSE_IDLE_HOOK */
\r
2178 /* This conditional compilation should use inequality to 0, not equality
\r
2179 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2180 user defined low power mode implementations require
\r
2181 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2182 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2184 portTickType xExpectedIdleTime;
\r
2186 /* It is not desirable to suspend then resume the scheduler on
\r
2187 each iteration of the idle task. Therefore, a preliminary
\r
2188 test of the expected idle time is performed without the
\r
2189 scheduler suspended. The result here is not necessarily
\r
2191 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2193 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2195 vTaskSuspendAll();
\r
2197 /* Now the scheduler is suspended, the expected idle
\r
2198 time can be sampled again, and this time its value can
\r
2200 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2201 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2203 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2205 traceLOW_POWER_IDLE_BEGIN();
\r
2206 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2207 traceLOW_POWER_IDLE_END();
\r
2210 ( void ) xTaskResumeAll();
\r
2213 #endif /* configUSE_TICKLESS_IDLE */
\r
2216 /*-----------------------------------------------------------*/
\r
2218 #if configUSE_TICKLESS_IDLE != 0
\r
2220 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2222 eSleepModeStatus eReturn = eStandardSleep;
\r
2224 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2226 /* A task was made ready while the scheduler was suspended. */
\r
2227 eReturn = eAbortSleep;
\r
2229 else if( xYieldPending != pdFALSE )
\r
2231 /* A yield was pended while the scheduler was suspended. */
\r
2232 eReturn = eAbortSleep;
\r
2236 #if configUSE_TIMERS == 0
\r
2238 /* The idle task exists in addition to the application tasks. */
\r
2239 const unsigned portBASE_TYPE uxNonApplicationTasks = 1;
\r
2241 /* If timers are not being used and all the tasks are in the
\r
2242 suspended list (which might mean they have an infinite block
\r
2243 time rather than actually being suspended) then it is safe to
\r
2244 turn all clocks off and just wait for external interrupts. */
\r
2245 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2247 eReturn = eNoTasksWaitingTimeout;
\r
2250 #endif /* configUSE_TIMERS */
\r
2255 #endif /* configUSE_TICKLESS_IDLE */
\r
2256 /*-----------------------------------------------------------*/
\r
2258 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2260 unsigned portBASE_TYPE x;
\r
2262 /* Store the task name in the TCB. */
\r
2263 for( x = ( unsigned portBASE_TYPE ) 0; x < ( unsigned portBASE_TYPE ) configMAX_TASK_NAME_LEN; x++ )
\r
2265 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2267 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2268 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2269 string is not accessible (extremely unlikely). */
\r
2270 if( pcName[ x ] == 0x00 )
\r
2276 /* Ensure the name string is terminated in the case that the string length
\r
2277 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2278 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = ( signed char ) '\0';
\r
2280 /* This is used as an array index so must ensure it's not too large. First
\r
2281 remove the privilege bit if one is present. */
\r
2282 if( uxPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
\r
2284 uxPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2287 pxTCB->uxPriority = uxPriority;
\r
2288 #if ( configUSE_MUTEXES == 1 )
\r
2290 pxTCB->uxBasePriority = uxPriority;
\r
2292 #endif /* configUSE_MUTEXES */
\r
2294 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2295 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2297 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2298 back to the containing TCB from a generic item in a list. */
\r
2299 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2301 /* Event lists are always in priority order. */
\r
2302 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2303 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2305 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2307 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2309 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2311 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2313 pxTCB->pxTaskTag = NULL;
\r
2315 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2317 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2319 pxTCB->ulRunTimeCounter = 0UL;
\r
2321 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2323 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2325 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2327 #else /* portUSING_MPU_WRAPPERS */
\r
2329 ( void ) xRegions;
\r
2330 ( void ) usStackDepth;
\r
2332 #endif /* portUSING_MPU_WRAPPERS */
\r
2334 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2336 /* Initialise this task's Newlib reent structure. */
\r
2337 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2339 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2341 /*-----------------------------------------------------------*/
\r
2343 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2345 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2349 /* If null is passed in here then we are deleting ourselves. */
\r
2350 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2352 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2355 #endif /* portUSING_MPU_WRAPPERS */
\r
2356 /*-----------------------------------------------------------*/
\r
2358 static void prvInitialiseTaskLists( void )
\r
2360 unsigned portBASE_TYPE uxPriority;
\r
2362 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < ( unsigned portBASE_TYPE ) configMAX_PRIORITIES; uxPriority++ )
\r
2364 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
2367 vListInitialise( &xDelayedTaskList1 );
\r
2368 vListInitialise( &xDelayedTaskList2 );
\r
2369 vListInitialise( &xPendingReadyList );
\r
2371 #if ( INCLUDE_vTaskDelete == 1 )
\r
2373 vListInitialise( &xTasksWaitingTermination );
\r
2375 #endif /* INCLUDE_vTaskDelete */
\r
2377 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2379 vListInitialise( &xSuspendedTaskList );
\r
2381 #endif /* INCLUDE_vTaskSuspend */
\r
2383 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2385 pxDelayedTaskList = &xDelayedTaskList1;
\r
2386 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2388 /*-----------------------------------------------------------*/
\r
2390 static void prvCheckTasksWaitingTermination( void )
\r
2392 #if ( INCLUDE_vTaskDelete == 1 )
\r
2394 portBASE_TYPE xListIsEmpty;
\r
2396 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2397 too often in the idle task. */
\r
2398 while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2400 vTaskSuspendAll();
\r
2401 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2402 ( void ) xTaskResumeAll();
\r
2404 if( xListIsEmpty == pdFALSE )
\r
2408 taskENTER_CRITICAL();
\r
2410 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
2411 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2412 --uxCurrentNumberOfTasks;
\r
2415 taskEXIT_CRITICAL();
\r
2417 prvDeleteTCB( pxTCB );
\r
2421 #endif /* vTaskDelete */
\r
2423 /*-----------------------------------------------------------*/
\r
2425 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2427 /* The list item will be inserted in wake time order. */
\r
2428 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2430 if( xTimeToWake < xTickCount )
\r
2432 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2433 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2437 /* The wake time has not overflowed, so we can use the current block list. */
\r
2438 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2440 /* If the task entering the blocked state was placed at the head of the
\r
2441 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2443 if( xTimeToWake < xNextTaskUnblockTime )
\r
2445 xNextTaskUnblockTime = xTimeToWake;
\r
2449 /*-----------------------------------------------------------*/
\r
2451 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2455 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2456 the implementation of the port malloc function. */
\r
2457 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2459 if( pxNewTCB != NULL )
\r
2461 /* Allocate space for the stack used by the task being created.
\r
2462 The base of the stack memory stored in the TCB so the task can
\r
2463 be deleted later if required. */
\r
2464 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2466 if( pxNewTCB->pxStack == NULL )
\r
2468 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2469 vPortFree( pxNewTCB );
\r
2474 /* Just to help debugging. */
\r
2475 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2481 /*-----------------------------------------------------------*/
\r
2483 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2485 static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState )
\r
2487 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2488 unsigned portBASE_TYPE uxTask = 0;
\r
2490 if( listCURRENT_LIST_LENGTH( pxList ) > ( unsigned portBASE_TYPE ) 0 )
\r
2492 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2494 /* Populate an xTaskStatusType structure within the
\r
2495 pxTaskStatusArray array for each task that is referenced from
\r
2496 pxList. See the definition of xTaskStatusType in task.h for the
\r
2497 meaning of each xTaskStatusType structure member. */
\r
2500 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2502 pxTaskStatusArray[ uxTask ].xHandle = ( xTaskHandle ) pxNextTCB;
\r
2503 pxTaskStatusArray[ uxTask ].pcTaskName = ( const signed char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
2504 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
2505 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
2506 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
2508 #if ( configUSE_MUTEXES == 1 )
\r
2510 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
2514 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
2518 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2520 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
2524 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
2528 #if ( portSTACK_GROWTH > 0 )
\r
2530 ppxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2534 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2540 } while( pxNextTCB != pxFirstTCB );
\r
2546 #endif /* configUSE_TRACE_FACILITY */
\r
2547 /*-----------------------------------------------------------*/
\r
2549 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2551 static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2553 unsigned short usCount = 0U;
\r
2555 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2557 pucStackByte -= portSTACK_GROWTH;
\r
2561 usCount /= sizeof( portSTACK_TYPE );
\r
2566 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
2567 /*-----------------------------------------------------------*/
\r
2569 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2571 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2574 unsigned char *pcEndOfStack;
\r
2575 unsigned portBASE_TYPE uxReturn;
\r
2577 pxTCB = prvGetTCBFromHandle( xTask );
\r
2579 #if portSTACK_GROWTH < 0
\r
2581 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2585 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2589 uxReturn = ( unsigned portBASE_TYPE ) prvTaskCheckFreeStackSpace( pcEndOfStack );
\r
2594 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
2595 /*-----------------------------------------------------------*/
\r
2597 #if ( INCLUDE_vTaskDelete == 1 )
\r
2599 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2601 /* This call is required specifically for the TriCore port. It must be
\r
2602 above the vPortFree() calls. The call is also used by ports/demos that
\r
2603 want to allocate and clean RAM statically. */
\r
2604 portCLEAN_UP_TCB( pxTCB );
\r
2606 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2607 the task to free any memory allocated at the application level. */
\r
2608 vPortFreeAligned( pxTCB->pxStack );
\r
2609 vPortFree( pxTCB );
\r
2612 #endif /* INCLUDE_vTaskDelete */
\r
2613 /*-----------------------------------------------------------*/
\r
2615 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2617 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2619 xTaskHandle xReturn;
\r
2621 /* A critical section is not required as this is not called from
\r
2622 an interrupt and the current TCB will always be the same for any
\r
2623 individual execution thread. */
\r
2624 xReturn = pxCurrentTCB;
\r
2629 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
2630 /*-----------------------------------------------------------*/
\r
2632 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2634 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2636 portBASE_TYPE xReturn;
\r
2638 if( xSchedulerRunning == pdFALSE )
\r
2640 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2644 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2646 xReturn = taskSCHEDULER_RUNNING;
\r
2650 xReturn = taskSCHEDULER_SUSPENDED;
\r
2657 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
2658 /*-----------------------------------------------------------*/
\r
2660 #if ( configUSE_MUTEXES == 1 )
\r
2662 void vTaskPriorityInherit( xTaskHandle const pxMutexHolder )
\r
2664 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2666 /* If the mutex was given back by an interrupt while the queue was
\r
2667 locked then the mutex holder might now be NULL. */
\r
2668 if( pxMutexHolder != NULL )
\r
2670 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2672 /* Adjust the mutex holder state to account for its new priority. */
\r
2673 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2675 /* If the task being modified is in the ready state it will need to
\r
2676 be moved into a new list. */
\r
2677 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2679 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
2681 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2684 /* Inherit the priority before being moved into the new list. */
\r
2685 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2686 prvAddTaskToReadyList( pxTCB );
\r
2690 /* Just inherit the priority. */
\r
2691 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2694 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2699 #endif /* configUSE_MUTEXES */
\r
2700 /*-----------------------------------------------------------*/
\r
2702 #if ( configUSE_MUTEXES == 1 )
\r
2704 void vTaskPriorityDisinherit( xTaskHandle const pxMutexHolder )
\r
2706 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2708 if( pxMutexHolder != NULL )
\r
2710 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2712 /* We must be the running task to be able to give the mutex back.
\r
2713 Remove ourselves from the ready list we currently appear in. */
\r
2714 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
2716 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2719 /* Disinherit the priority before adding the task into the new
\r
2721 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2722 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2723 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2724 prvAddTaskToReadyList( pxTCB );
\r
2729 #endif /* configUSE_MUTEXES */
\r
2730 /*-----------------------------------------------------------*/
\r
2732 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2734 void vTaskEnterCritical( void )
\r
2736 portDISABLE_INTERRUPTS();
\r
2738 if( xSchedulerRunning != pdFALSE )
\r
2740 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2744 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2745 /*-----------------------------------------------------------*/
\r
2747 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2749 void vTaskExitCritical( void )
\r
2751 if( xSchedulerRunning != pdFALSE )
\r
2753 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2755 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2757 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2759 portENABLE_INTERRUPTS();
\r
2765 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2766 /*-----------------------------------------------------------*/
\r
2768 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
2770 void vTaskList( signed char *pcWriteBuffer )
\r
2772 xTaskStatusType *pxTaskStatusArray;
\r
2773 volatile unsigned portBASE_TYPE uxArraySize, x;
\r
2779 * This function is provided for convenience only, and is used by many
\r
2780 * of the demo applications. Do not consider it to be part of the
\r
2783 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
2784 * uxTaskGetSystemState() output into a human readable table that
\r
2785 * displays task names, states and stack usage.
\r
2787 * vTaskList() has a dependency on the sprintf() C library function that
\r
2788 * might bloat the code size, use a lot of stack, and provide different
\r
2789 * results on different platforms. An alternative, tiny, third party,
\r
2790 * and limited functionality implementation of sprintf() is provided in
\r
2791 * many of the FreeRTOS/Demo sub-directories in a file called
\r
2792 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
2793 * snprintf() implementation!).
\r
2795 * It is recommended that production systems call uxTaskGetSystemState()
\r
2796 * directly to get access to raw stats data, rather than indirectly
\r
2797 * through a call to vTaskList().
\r
2801 /* Make sure the write buffer does not contain a string. */
\r
2802 *pcWriteBuffer = 0x00;
\r
2804 /* Take a snapshot of the number of tasks in case it changes while this
\r
2805 function is executing. */
\r
2806 uxArraySize = uxCurrentNumberOfTasks;
\r
2808 /* Allocate an array index for each task. */
\r
2809 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
\r
2811 if( pxTaskStatusArray != NULL )
\r
2813 /* Generate the (binary) data. */
\r
2814 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
2816 /* Create a human readable table from the binary data. */
\r
2817 for( x = 0; x < uxArraySize; x++ )
\r
2819 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
2821 case eReady: cStatus = tskREADY_CHAR;
\r
2824 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
2827 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
2830 case eDeleted: cStatus = tskDELETED_CHAR;
\r
2833 default: /* Should not get here, but it is included
\r
2834 to prevent static checking errors. */
\r
2839 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxTaskStatusArray[ x ].pcTaskName, cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
2840 pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
\r
2843 /* Free the array again. */
\r
2844 vPortFree( pxTaskStatusArray );
\r
2848 #endif /* configUSE_TRACE_FACILITY */
\r
2849 /*----------------------------------------------------------*/
\r
2851 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
2853 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
2855 xTaskStatusType *pxTaskStatusArray;
\r
2856 volatile unsigned portBASE_TYPE uxArraySize, x;
\r
2857 unsigned long ulTotalTime, ulStatsAsPercentage;
\r
2862 * This function is provided for convenience only, and is used by many
\r
2863 * of the demo applications. Do not consider it to be part of the
\r
2866 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
2867 * of the uxTaskGetSystemState() output into a human readable table that
\r
2868 * displays the amount of time each task has spent in the Running state
\r
2869 * in both absolute and percentage terms.
\r
2871 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
2872 * function that might bloat the code size, use a lot of stack, and
\r
2873 * provide different results on different platforms. An alternative,
\r
2874 * tiny, third party, and limited functionality implementation of
\r
2875 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
2876 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
2877 * a full snprintf() implementation!).
\r
2879 * It is recommended that production systems call uxTaskGetSystemState()
\r
2880 * directly to get access to raw stats data, rather than indirectly
\r
2881 * through a call to vTaskGetRunTimeStats().
\r
2884 /* Make sure the write buffer does not contain a string. */
\r
2885 *pcWriteBuffer = 0x00;
\r
2887 /* Take a snapshot of the number of tasks in case it changes while this
\r
2888 function is executing. */
\r
2889 uxArraySize = uxCurrentNumberOfTasks;
\r
2891 /* Allocate an array index for each task. */
\r
2892 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
\r
2894 if( pxTaskStatusArray != NULL )
\r
2896 /* Generate the (binary) data. */
\r
2897 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
2899 /* For percentage calculations. */
\r
2900 ulTotalTime /= 100UL;
\r
2902 /* Avoid divide by zero errors. */
\r
2903 if( ulTotalTime > 0 )
\r
2905 /* Create a human readable table from the binary data. */
\r
2906 for( x = 0; x < uxArraySize; x++ )
\r
2908 /* What percentage of the total run time has the task used?
\r
2909 This will always be rounded down to the nearest integer.
\r
2910 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
2911 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
2913 if( ulStatsAsPercentage > 0UL )
\r
2915 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2917 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
2921 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2922 printf() library can be used. */
\r
2923 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2929 /* If the percentage is zero here then the task has
\r
2930 consumed less than 1% of the total run time. */
\r
2931 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2933 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
2937 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2938 printf() library can be used. */
\r
2939 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
2944 pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
\r
2948 /* Free the array again. */
\r
2949 vPortFree( pxTaskStatusArray );
\r
2953 #endif /* configGENERATE_RUN_TIME_STATS */
\r
projects / freertos / blob