2 FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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32 >>>NOTE<<< The modification to the GPL is included to allow you to
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33 distribute a combined work that includes FreeRTOS without being obliged to
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34 provide the source code for proprietary components outside of the FreeRTOS
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35 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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36 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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37 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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38 more details. You should have received a copy of the GNU General Public
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39 License and the FreeRTOS license exception along with FreeRTOS; if not it
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40 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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41 by writing to Richard Barry, contact details for whom are available on the
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46 ***************************************************************************
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48 * Having a problem? Start by reading the FAQ "My application does *
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49 * not run, what could be wrong?" *
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51 * http://www.FreeRTOS.org/FAQHelp.html *
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53 ***************************************************************************
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56 http://www.FreeRTOS.org - Documentation, training, latest versions, license
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57 and contact details.
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59 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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60 including FreeRTOS+Trace - an indispensable productivity tool.
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62 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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63 the code with commercial support, indemnification, and middleware, under
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64 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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65 provide a safety engineered and independently SIL3 certified version under
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66 the SafeRTOS brand: http://www.SafeRTOS.com.
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69 /* Standard includes. */
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74 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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75 all the API functions to use the MPU wrappers. That should only be done when
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76 task.h is included from an application file. */
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77 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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79 /* FreeRTOS includes. */
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80 #include "FreeRTOS.h"
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83 #include "StackMacros.h"
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85 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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88 * Defines the size, in words, of the stack allocated to the idle task.
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90 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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93 * Task control block. A task control block (TCB) is allocated for each task,
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94 * and stores task state information, including a pointer to the task's context
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95 * (the task's run time environment, including register values)
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97 typedef struct tskTaskControlBlock
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99 volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
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101 #if ( portUSING_MPU_WRAPPERS == 1 )
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102 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
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105 xListItem xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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106 xListItem xEventListItem; /*< Used to reference a task from an event list. */
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107 unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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108 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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109 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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111 #if ( portSTACK_GROWTH > 0 )
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112 portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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115 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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116 unsigned portBASE_TYPE uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
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119 #if ( configUSE_TRACE_FACILITY == 1 )
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120 unsigned portBASE_TYPE uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
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121 unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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124 #if ( configUSE_MUTEXES == 1 )
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125 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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128 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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129 pdTASK_HOOK_CODE pxTaskTag;
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132 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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133 unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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140 * Some kernel aware debuggers require the data the debugger needs access to to
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141 * be global, rather than file scope.
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143 #ifdef portREMOVE_STATIC_QUALIFIER
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148 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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150 /* Lists for ready and blocked tasks. --------------------*/
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151 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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152 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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153 PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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154 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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155 PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
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156 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */
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158 #if ( INCLUDE_vTaskDelete == 1 )
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160 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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161 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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165 #if ( INCLUDE_vTaskSuspend == 1 )
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167 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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171 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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173 PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
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177 /* File private variables. --------------------------------*/
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178 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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179 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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180 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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181 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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182 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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183 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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184 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0U;
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185 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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186 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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187 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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188 PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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190 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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192 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
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193 PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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194 PRIVILEGED_DATA static unsigned long ulTotalRunTime; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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195 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTimeDiv100 ) PRIVILEGED_FUNCTION;
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199 /* Debugging and trace facilities private variables and macros. ------------*/
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202 * The value used to fill the stack of a task when the task is created. This
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203 * is used purely for checking the high water mark for tasks.
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205 #define tskSTACK_FILL_BYTE ( 0xa5U )
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208 * Macros used by vListTask to indicate which state a task is in.
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210 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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211 #define tskREADY_CHAR ( ( signed char ) 'R' )
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212 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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213 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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215 /*-----------------------------------------------------------*/
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217 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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219 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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220 performed in a generic way that is not optimised to any particular
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221 microcontroller architecture. */
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223 /* uxTopReadyPriority holds the priority of the highest priority ready
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225 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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227 if( ( uxPriority ) > uxTopReadyPriority ) \
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229 uxTopReadyPriority = ( uxPriority ); \
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231 } /* taskRECORD_READY_PRIORITY */
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233 /*-----------------------------------------------------------*/
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235 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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237 /* Find the highest priority queue that contains ready tasks. */ \
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238 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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240 configASSERT( uxTopReadyPriority ); \
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241 --uxTopReadyPriority; \
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244 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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245 the same priority get an equal share of the processor time. */ \
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246 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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247 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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249 /*-----------------------------------------------------------*/
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251 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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252 they are only required when a port optimised method of task selection is
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254 #define taskRESET_READY_PRIORITY( uxPriority )
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255 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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257 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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259 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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260 performed in a way that is tailored to the particular microcontroller
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261 architecture being used. */
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263 /* A port optimised version is provided. Call the port defined macros. */
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264 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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266 /*-----------------------------------------------------------*/
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268 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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270 unsigned portBASE_TYPE uxTopPriority; \
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272 /* Find the highest priority queue that contains ready tasks. */ \
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273 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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274 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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275 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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276 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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278 /*-----------------------------------------------------------*/
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280 /* A port optimised version is provided, call it only if the TCB being reset
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281 is being referenced from a ready list. If it is referenced from a delayed
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282 or suspended list then it won't be in a ready list. */
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283 #define taskRESET_READY_PRIORITY( uxPriority ) \
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285 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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287 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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291 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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294 * Place the task represented by pxTCB into the appropriate ready queue for
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295 * the task. It is inserted at the end of the list. One quirk of this is
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296 * that if the task being inserted is at the same priority as the currently
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297 * executing task, then it will only be rescheduled after the currently
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298 * executing task has been rescheduled.
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300 #define prvAddTaskToReadyQueue( pxTCB ) \
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301 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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302 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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303 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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304 /*-----------------------------------------------------------*/
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307 * Macro that looks at the list of tasks that are currently delayed to see if
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308 * any require waking.
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310 * Tasks are stored in the queue in the order of their wake time - meaning
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311 * once one tasks has been found whose timer has not expired we need not look
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312 * any further down the list.
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314 #define prvCheckDelayedTasks() \
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316 portTickType xItemValue; \
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318 /* Is the tick count greater than or equal to the wake time of the first \
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319 task referenced from the delayed tasks list? */ \
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320 if( xTickCount >= xNextTaskUnblockTime ) \
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324 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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326 /* The delayed list is empty. Set xNextTaskUnblockTime to the \
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327 maximum possible value so it is extremely unlikely that the \
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328 if( xTickCount >= xNextTaskUnblockTime ) test will pass next \
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330 xNextTaskUnblockTime = portMAX_DELAY; \
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335 /* The delayed list is not empty, get the value of the item at \
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336 the head of the delayed list. This is the time at which the \
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337 task at the head of the delayed list should be removed from \
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338 the Blocked state. */ \
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339 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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340 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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342 if( xTickCount < xItemValue ) \
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344 /* It is not time to unblock this item yet, but the item \
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345 value is the time at which the task at the head of the \
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346 blocked list should be removed from the Blocked state - \
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347 so record the item value in xNextTaskUnblockTime. */ \
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348 xNextTaskUnblockTime = xItemValue; \
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352 /* It is time to remove the item from the Blocked state. */ \
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353 uxListRemove( &( pxTCB->xGenericListItem ) ); \
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355 /* Is the task waiting on an event also? */ \
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356 if( pxTCB->xEventListItem.pvContainer != NULL ) \
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358 uxListRemove( &( pxTCB->xEventListItem ) ); \
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360 prvAddTaskToReadyQueue( pxTCB ); \
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365 /*-----------------------------------------------------------*/
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368 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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369 * where NULL is used to indicate that the handle of the currently executing
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370 * task should be used in place of the parameter. This macro simply checks to
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371 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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373 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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375 /* Callback function prototypes. --------------------------*/
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376 extern void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName );
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377 extern void vApplicationTickHook( void );
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379 /* File private functions. --------------------------------*/
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382 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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383 * into the TCB structure.
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385 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
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388 * Utility to ready all the lists used by the scheduler. This is called
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389 * automatically upon the creation of the first task.
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391 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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394 * The idle task, which as all tasks is implemented as a never ending loop.
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395 * The idle task is automatically created and added to the ready lists upon
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396 * creation of the first user task.
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398 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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399 * language extensions. The equivalent prototype for this function is:
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401 * void prvIdleTask( void *pvParameters );
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404 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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407 * Utility to free all memory allocated by the scheduler to hold a TCB,
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408 * including the stack pointed to by the TCB.
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410 * This does not free memory allocated by the task itself (i.e. memory
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411 * allocated by calls to pvPortMalloc from within the tasks application code).
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413 #if ( INCLUDE_vTaskDelete == 1 )
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415 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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420 * Used only by the idle task. This checks to see if anything has been placed
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421 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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422 * and its TCB deleted.
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424 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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427 * The currently executing task is entering the Blocked state. Add the task to
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428 * either the current or the overflow delayed task list.
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430 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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433 * Allocates memory from the heap for a TCB and associated stack. Checks the
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434 * allocation was successful.
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436 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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439 * Called from vTaskList. vListTasks details all the tasks currently under
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440 * control of the scheduler. The tasks may be in one of a number of lists.
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441 * prvListTaskWithinSingleList accepts a list and details the tasks from
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442 * within just that list.
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444 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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445 * NORMAL APPLICATION CODE.
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447 #if ( configUSE_TRACE_FACILITY == 1 )
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449 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
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454 * When a task is created, the stack of the task is filled with a known value.
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455 * This function determines the 'high water mark' of the task stack by
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456 * determining how much of the stack remains at the original preset value.
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458 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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460 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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465 * Return the amount of time, in ticks, that will pass before the kernel will
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466 * next move a task from the Blocked state to the Running state.
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468 * This conditional compilation should use inequality to 0, not equality to 1.
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469 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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470 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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471 * set to a value other than 1.
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473 #if ( configUSE_TICKLESS_IDLE != 0 )
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475 static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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481 signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
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483 signed portBASE_TYPE xReturn;
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486 configASSERT( pxTaskCode );
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487 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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489 /* Allocate the memory required by the TCB and stack for the new task,
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490 checking that the allocation was successful. */
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491 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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493 if( pxNewTCB != NULL )
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495 portSTACK_TYPE *pxTopOfStack;
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497 #if( portUSING_MPU_WRAPPERS == 1 )
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498 /* Should the task be created in privileged mode? */
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499 portBASE_TYPE xRunPrivileged;
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500 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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502 xRunPrivileged = pdTRUE;
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506 xRunPrivileged = pdFALSE;
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508 uxPriority &= ~portPRIVILEGE_BIT;
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509 #endif /* portUSING_MPU_WRAPPERS == 1 */
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511 /* Calculate the top of stack address. This depends on whether the
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512 stack grows from high memory to low (as per the 80x86) or visa versa.
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513 portSTACK_GROWTH is used to make the result positive or negative as
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514 required by the port. */
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515 #if( portSTACK_GROWTH < 0 )
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517 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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518 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
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520 /* Check the alignment of the calculated top of stack is correct. */
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521 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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523 #else /* portSTACK_GROWTH */
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525 pxTopOfStack = pxNewTCB->pxStack;
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527 /* Check the alignment of the stack buffer is correct. */
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528 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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530 /* If we want to use stack checking on architectures that use
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531 a positive stack growth direction then we also need to store the
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532 other extreme of the stack space. */
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533 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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535 #endif /* portSTACK_GROWTH */
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537 /* Setup the newly allocated TCB with the initial state of the task. */
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538 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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540 /* Initialize the TCB stack to look as if the task was already running,
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541 but had been interrupted by the scheduler. The return address is set
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542 to the start of the task function. Once the stack has been initialised
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543 the top of stack variable is updated. */
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544 #if( portUSING_MPU_WRAPPERS == 1 )
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546 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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548 #else /* portUSING_MPU_WRAPPERS */
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550 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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552 #endif /* portUSING_MPU_WRAPPERS */
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554 /* Check the alignment of the initialised stack. */
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555 portALIGNMENT_ASSERT_pxCurrentTCB( ( ( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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557 if( ( void * ) pxCreatedTask != NULL )
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559 /* Pass the TCB out - in an anonymous way. The calling function/
\r
560 task can use this as a handle to delete the task later if
\r
562 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
\r
565 /* We are going to manipulate the task queues to add this task to a
\r
566 ready list, so must make sure no interrupts occur. */
\r
567 taskENTER_CRITICAL();
\r
569 uxCurrentNumberOfTasks++;
\r
570 if( pxCurrentTCB == NULL )
\r
572 /* There are no other tasks, or all the other tasks are in
\r
573 the suspended state - make this the current task. */
\r
574 pxCurrentTCB = pxNewTCB;
\r
576 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
578 /* This is the first task to be created so do the preliminary
\r
579 initialisation required. We will not recover if this call
\r
580 fails, but we will report the failure. */
\r
581 prvInitialiseTaskLists();
\r
586 /* If the scheduler is not already running, make this task the
\r
587 current task if it is the highest priority task to be created
\r
589 if( xSchedulerRunning == pdFALSE )
\r
591 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
593 pxCurrentTCB = pxNewTCB;
\r
598 /* Remember the top priority to make context switching faster. Use
\r
599 the priority in pxNewTCB as this has been capped to a valid value. */
\r
600 if( pxNewTCB->uxPriority > uxTopUsedPriority )
\r
602 uxTopUsedPriority = pxNewTCB->uxPriority;
\r
605 #if ( configUSE_TRACE_FACILITY == 1 )
\r
607 /* Add a counter into the TCB for tracing only. */
\r
608 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
610 #endif /* configUSE_TRACE_FACILITY */
\r
612 traceTASK_CREATE( pxNewTCB );
\r
614 prvAddTaskToReadyQueue( pxNewTCB );
\r
617 portSETUP_TCB( pxNewTCB );
\r
619 taskEXIT_CRITICAL();
\r
623 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
624 traceTASK_CREATE_FAILED();
\r
627 if( xReturn == pdPASS )
\r
629 if( xSchedulerRunning != pdFALSE )
\r
631 /* If the created task is of a higher priority than the current task
\r
632 then it should run now. */
\r
633 if( pxCurrentTCB->uxPriority < uxPriority )
\r
635 portYIELD_WITHIN_API();
\r
642 /*-----------------------------------------------------------*/
\r
644 #if ( INCLUDE_vTaskDelete == 1 )
\r
646 void vTaskDelete( xTaskHandle pxTaskToDelete )
\r
650 taskENTER_CRITICAL();
\r
652 /* Ensure a yield is performed if the current task is being
\r
654 if( pxTaskToDelete == pxCurrentTCB )
\r
656 pxTaskToDelete = NULL;
\r
659 /* If null is passed in here then we are deleting ourselves. */
\r
660 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
\r
662 /* Remove task from the ready list and place in the termination list.
\r
663 This will stop the task from be scheduled. The idle task will check
\r
664 the termination list and free up any memory allocated by the
\r
665 scheduler for the TCB and stack. */
\r
666 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
668 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
671 /* Is the task waiting on an event also? */
\r
672 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
674 uxListRemove( &( pxTCB->xEventListItem ) );
\r
677 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
679 /* Increment the ucTasksDeleted variable so the idle task knows
\r
680 there is a task that has been deleted and that it should therefore
\r
681 check the xTasksWaitingTermination list. */
\r
684 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
685 can detect that the task lists need re-generating. */
\r
688 traceTASK_DELETE( pxTCB );
\r
690 taskEXIT_CRITICAL();
\r
692 /* Force a reschedule if we have just deleted the current task. */
\r
693 if( xSchedulerRunning != pdFALSE )
\r
695 if( ( void * ) pxTaskToDelete == NULL )
\r
697 portYIELD_WITHIN_API();
\r
702 #endif /* INCLUDE_vTaskDelete */
\r
703 /*-----------------------------------------------------------*/
\r
705 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
707 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
709 portTickType xTimeToWake;
\r
710 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
712 configASSERT( pxPreviousWakeTime );
\r
713 configASSERT( ( xTimeIncrement > 0U ) );
\r
717 /* Generate the tick time at which the task wants to wake. */
\r
718 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
720 if( xTickCount < *pxPreviousWakeTime )
\r
722 /* The tick count has overflowed since this function was
\r
723 lasted called. In this case the only time we should ever
\r
724 actually delay is if the wake time has also overflowed,
\r
725 and the wake time is greater than the tick time. When this
\r
726 is the case it is as if neither time had overflowed. */
\r
727 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
729 xShouldDelay = pdTRUE;
\r
734 /* The tick time has not overflowed. In this case we will
\r
735 delay if either the wake time has overflowed, and/or the
\r
736 tick time is less than the wake time. */
\r
737 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
739 xShouldDelay = pdTRUE;
\r
743 /* Update the wake time ready for the next call. */
\r
744 *pxPreviousWakeTime = xTimeToWake;
\r
746 if( xShouldDelay != pdFALSE )
\r
748 traceTASK_DELAY_UNTIL();
\r
750 /* We must remove ourselves from the ready list before adding
\r
751 ourselves to the blocked list as the same list item is used for
\r
753 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
755 /* The current task must be in a ready list, so there is
\r
756 no need to check, and the port reset macro can be called
\r
758 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
761 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
764 xAlreadyYielded = xTaskResumeAll();
\r
766 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
767 have put ourselves to sleep. */
\r
768 if( xAlreadyYielded == pdFALSE )
\r
770 portYIELD_WITHIN_API();
\r
774 #endif /* INCLUDE_vTaskDelayUntil */
\r
775 /*-----------------------------------------------------------*/
\r
777 #if ( INCLUDE_vTaskDelay == 1 )
\r
779 void vTaskDelay( portTickType xTicksToDelay )
\r
781 portTickType xTimeToWake;
\r
782 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
784 /* A delay time of zero just forces a reschedule. */
\r
785 if( xTicksToDelay > ( portTickType ) 0U )
\r
791 /* A task that is removed from the event list while the
\r
792 scheduler is suspended will not get placed in the ready
\r
793 list or removed from the blocked list until the scheduler
\r
796 This task cannot be in an event list as it is the currently
\r
799 /* Calculate the time to wake - this may overflow but this is
\r
801 xTimeToWake = xTickCount + xTicksToDelay;
\r
803 /* We must remove ourselves from the ready list before adding
\r
804 ourselves to the blocked list as the same list item is used for
\r
806 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
808 /* The current task must be in a ready list, so there is
\r
809 no need to check, and the port reset macro can be called
\r
811 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
813 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
815 xAlreadyYielded = xTaskResumeAll();
\r
818 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
819 have put ourselves to sleep. */
\r
820 if( xAlreadyYielded == pdFALSE )
\r
822 portYIELD_WITHIN_API();
\r
826 #endif /* INCLUDE_vTaskDelay */
\r
827 /*-----------------------------------------------------------*/
\r
829 #if ( INCLUDE_eTaskGetState == 1 )
\r
831 eTaskState eTaskGetState( xTaskHandle pxTask )
\r
833 eTaskState eReturn;
\r
834 xList *pxStateList;
\r
837 pxTCB = ( tskTCB * ) pxTask;
\r
839 if( pxTCB == pxCurrentTCB )
\r
841 /* The task calling this function is querying its own state. */
\r
842 eReturn = eRunning;
\r
846 taskENTER_CRITICAL();
\r
848 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
850 taskEXIT_CRITICAL();
\r
852 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
854 /* The task being queried is referenced from one of the Blocked
\r
856 eReturn = eBlocked;
\r
859 #if ( INCLUDE_vTaskSuspend == 1 )
\r
860 else if( pxStateList == &xSuspendedTaskList )
\r
862 /* The task being queried is referenced from the suspended
\r
864 eReturn = eSuspended;
\r
868 #if ( INCLUDE_vTaskDelete == 1 )
\r
869 else if( pxStateList == &xTasksWaitingTermination )
\r
871 /* The task being queried is referenced from the deleted
\r
873 eReturn = eDeleted;
\r
879 /* If the task is not in any other state, it must be in the
\r
880 Ready (including pending ready) state. */
\r
888 #endif /* INCLUDE_eTaskGetState */
\r
889 /*-----------------------------------------------------------*/
\r
891 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
893 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
896 unsigned portBASE_TYPE uxReturn;
\r
898 taskENTER_CRITICAL();
\r
900 /* If null is passed in here then we are changing the
\r
901 priority of the calling function. */
\r
902 pxTCB = prvGetTCBFromHandle( pxTask );
\r
903 uxReturn = pxTCB->uxPriority;
\r
905 taskEXIT_CRITICAL();
\r
910 #endif /* INCLUDE_uxTaskPriorityGet */
\r
911 /*-----------------------------------------------------------*/
\r
913 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
915 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
918 unsigned portBASE_TYPE uxCurrentPriority, uxPriorityUsedOnEntry;
\r
919 portBASE_TYPE xYieldRequired = pdFALSE;
\r
921 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
923 /* Ensure the new priority is valid. */
\r
924 if( uxNewPriority >= configMAX_PRIORITIES )
\r
926 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
929 taskENTER_CRITICAL();
\r
931 if( pxTask == pxCurrentTCB )
\r
936 /* If null is passed in here then we are changing the
\r
937 priority of the calling function. */
\r
938 pxTCB = prvGetTCBFromHandle( pxTask );
\r
940 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
942 #if ( configUSE_MUTEXES == 1 )
\r
944 uxCurrentPriority = pxTCB->uxBasePriority;
\r
948 uxCurrentPriority = pxTCB->uxPriority;
\r
952 if( uxCurrentPriority != uxNewPriority )
\r
954 /* The priority change may have readied a task of higher
\r
955 priority than the calling task. */
\r
956 if( uxNewPriority > uxCurrentPriority )
\r
958 if( pxTask != NULL )
\r
960 /* The priority of another task is being raised. If we
\r
961 were raising the priority of the currently running task
\r
962 there would be no need to switch as it must have already
\r
963 been the highest priority task. */
\r
964 xYieldRequired = pdTRUE;
\r
967 else if( pxTask == NULL )
\r
969 /* Setting our own priority down means there may now be another
\r
970 task of higher priority that is ready to execute. */
\r
971 xYieldRequired = pdTRUE;
\r
974 /* Remember the ready list the task might be referenced from
\r
975 before its uxPriority member is changed so the
\r
976 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
977 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
979 #if ( configUSE_MUTEXES == 1 )
\r
981 /* Only change the priority being used if the task is not
\r
982 currently using an inherited priority. */
\r
983 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
985 pxTCB->uxPriority = uxNewPriority;
\r
988 /* The base priority gets set whatever. */
\r
989 pxTCB->uxBasePriority = uxNewPriority;
\r
993 pxTCB->uxPriority = uxNewPriority;
\r
997 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
999 /* If the task is in the blocked or suspended list we need do
\r
1000 nothing more than change it's priority variable. However, if
\r
1001 the task is in a ready list it needs to be removed and placed
\r
1002 in the queue appropriate to its new priority. */
\r
1003 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
1005 /* The task is currently in its ready list - remove before adding
\r
1006 it to it's new ready list. As we are in a critical section we
\r
1007 can do this even if the scheduler is suspended. */
\r
1008 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1010 taskRESET_READY_PRIORITY( uxPriorityUsedOnEntry );
\r
1012 prvAddTaskToReadyQueue( pxTCB );
\r
1015 if( xYieldRequired == pdTRUE )
\r
1017 portYIELD_WITHIN_API();
\r
1021 taskEXIT_CRITICAL();
\r
1023 /* Remove compiler warning about unused parameter when the port
\r
1024 optimised task selection is not being used. */
\r
1025 ( void ) uxPriorityUsedOnEntry;
\r
1028 #endif /* INCLUDE_vTaskPrioritySet */
\r
1029 /*-----------------------------------------------------------*/
\r
1031 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1033 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
1037 taskENTER_CRITICAL();
\r
1039 /* Ensure a yield is performed if the current task is being
\r
1041 if( pxTaskToSuspend == pxCurrentTCB )
\r
1043 pxTaskToSuspend = NULL;
\r
1046 /* If null is passed in here then we are suspending ourselves. */
\r
1047 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
1049 traceTASK_SUSPEND( pxTCB );
\r
1051 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
1052 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1054 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1057 /* Is the task waiting on an event also? */
\r
1058 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
1060 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1063 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1065 taskEXIT_CRITICAL();
\r
1067 if( ( void * ) pxTaskToSuspend == NULL )
\r
1069 if( xSchedulerRunning != pdFALSE )
\r
1071 /* We have just suspended the current task. */
\r
1072 portYIELD_WITHIN_API();
\r
1076 /* The scheduler is not running, but the task that was pointed
\r
1077 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1078 must be adjusted to point to a different task. */
\r
1079 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1081 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1082 NULL so when the next task is created pxCurrentTCB will
\r
1083 be set to point to it no matter what its relative priority
\r
1085 pxCurrentTCB = NULL;
\r
1089 vTaskSwitchContext();
\r
1095 #endif /* INCLUDE_vTaskSuspend */
\r
1096 /*-----------------------------------------------------------*/
\r
1098 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1100 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
1102 portBASE_TYPE xReturn = pdFALSE;
\r
1103 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1105 /* It does not make sense to check if the calling task is suspended. */
\r
1106 configASSERT( xTask );
\r
1108 /* Is the task we are attempting to resume actually in the
\r
1109 suspended list? */
\r
1110 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1112 /* Has the task already been resumed from within an ISR? */
\r
1113 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
1115 /* Is it in the suspended list because it is in the
\r
1116 Suspended state? It is possible to be in the suspended
\r
1117 list because it is blocked on a task with no timeout
\r
1119 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
1129 #endif /* INCLUDE_vTaskSuspend */
\r
1130 /*-----------------------------------------------------------*/
\r
1132 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1134 void vTaskResume( xTaskHandle pxTaskToResume )
\r
1138 /* It does not make sense to resume the calling task. */
\r
1139 configASSERT( pxTaskToResume );
\r
1141 /* Remove the task from whichever list it is currently in, and place
\r
1142 it in the ready list. */
\r
1143 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1145 /* The parameter cannot be NULL as it is impossible to resume the
\r
1146 currently executing task. */
\r
1147 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1149 taskENTER_CRITICAL();
\r
1151 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1153 traceTASK_RESUME( pxTCB );
\r
1155 /* As we are in a critical section we can access the ready
\r
1156 lists even if the scheduler is suspended. */
\r
1157 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1158 prvAddTaskToReadyQueue( pxTCB );
\r
1160 /* We may have just resumed a higher priority task. */
\r
1161 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1163 /* This yield may not cause the task just resumed to run, but
\r
1164 will leave the lists in the correct state for the next yield. */
\r
1165 portYIELD_WITHIN_API();
\r
1169 taskEXIT_CRITICAL();
\r
1173 #endif /* INCLUDE_vTaskSuspend */
\r
1175 /*-----------------------------------------------------------*/
\r
1177 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1179 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
1181 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1183 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1185 configASSERT( pxTaskToResume );
\r
1187 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1189 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1191 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1193 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1195 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1197 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1198 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1199 prvAddTaskToReadyQueue( pxTCB );
\r
1203 /* We cannot access the delayed or ready lists, so will hold this
\r
1204 task pending until the scheduler is resumed, at which point a
\r
1205 yield will be performed if necessary. */
\r
1206 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1210 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1212 return xYieldRequired;
\r
1215 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1216 /*-----------------------------------------------------------*/
\r
1218 void vTaskStartScheduler( void )
\r
1220 portBASE_TYPE xReturn;
\r
1222 /* Add the idle task at the lowest priority. */
\r
1223 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1225 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1226 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1227 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );
\r
1231 /* Create the idle task without storing its handle. */
\r
1232 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
\r
1234 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1236 #if ( configUSE_TIMERS == 1 )
\r
1238 if( xReturn == pdPASS )
\r
1240 xReturn = xTimerCreateTimerTask();
\r
1243 #endif /* configUSE_TIMERS */
\r
1245 if( xReturn == pdPASS )
\r
1247 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1248 before or during the call to xPortStartScheduler(). The stacks of
\r
1249 the created tasks contain a status word with interrupts switched on
\r
1250 so interrupts will automatically get re-enabled when the first task
\r
1253 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1254 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1255 portDISABLE_INTERRUPTS();
\r
1257 xSchedulerRunning = pdTRUE;
\r
1258 xTickCount = ( portTickType ) 0U;
\r
1260 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1261 macro must be defined to configure the timer/counter used to generate
\r
1262 the run time counter time base. */
\r
1263 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1265 /* Setting up the timer tick is hardware specific and thus in the
\r
1266 portable interface. */
\r
1267 if( xPortStartScheduler() != pdFALSE )
\r
1269 /* Should not reach here as if the scheduler is running the
\r
1270 function will not return. */
\r
1274 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1278 /* This line will only be reached if the kernel could not be started, or
\r
1279 vTaskEndScheduler() was called (vTaskEndScheduler() is not implemented for
\r
1281 configASSERT( xReturn );
\r
1283 /*-----------------------------------------------------------*/
\r
1285 void vTaskEndScheduler( void )
\r
1287 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1288 routine so the original ISRs can be restored if necessary. The port
\r
1289 layer must ensure interrupts enable bit is left in the correct state. */
\r
1290 portDISABLE_INTERRUPTS();
\r
1291 xSchedulerRunning = pdFALSE;
\r
1292 vPortEndScheduler();
\r
1294 /*----------------------------------------------------------*/
\r
1296 void vTaskSuspendAll( void )
\r
1298 /* A critical section is not required as the variable is of type
\r
1300 ++uxSchedulerSuspended;
\r
1302 /*----------------------------------------------------------*/
\r
1304 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1306 static portTickType prvGetExpectedIdleTime( void )
\r
1308 portTickType xReturn;
\r
1310 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1314 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1316 /* There are other idle priority tasks in the ready state. If
\r
1317 time slicing is used then the very next tick interrupt must be
\r
1323 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1329 #endif /* configUSE_TICKLESS_IDLE */
\r
1330 /*----------------------------------------------------------*/
\r
1332 signed portBASE_TYPE xTaskResumeAll( void )
\r
1334 register tskTCB *pxTCB;
\r
1335 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1337 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1338 previous call to vTaskSuspendAll(). */
\r
1339 configASSERT( uxSchedulerSuspended );
\r
1341 /* It is possible that an ISR caused a task to be removed from an event
\r
1342 list while the scheduler was suspended. If this was the case then the
\r
1343 removed task will have been added to the xPendingReadyList. Once the
\r
1344 scheduler has been resumed it is safe to move all the pending ready
\r
1345 tasks from this list into their appropriate ready list. */
\r
1346 taskENTER_CRITICAL();
\r
1348 --uxSchedulerSuspended;
\r
1350 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1352 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1354 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1356 /* Move any readied tasks from the pending list into the
\r
1357 appropriate ready list. */
\r
1358 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1360 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1361 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1362 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1363 prvAddTaskToReadyQueue( pxTCB );
\r
1365 /* If we have moved a task that has a priority higher than
\r
1366 the current task then we should yield. */
\r
1367 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1369 xYieldRequired = pdTRUE;
\r
1373 /* If any ticks occurred while the scheduler was suspended then
\r
1374 they should be processed now. This ensures the tick count does not
\r
1375 slip, and that any delayed tasks are resumed at the correct time. */
\r
1376 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1378 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1380 vTaskIncrementTick();
\r
1384 /* As we have processed some ticks it is appropriate to yield
\r
1385 to ensure the highest priority task that is ready to run is
\r
1386 the task actually running. */
\r
1387 #if configUSE_PREEMPTION == 1
\r
1389 xYieldRequired = pdTRUE;
\r
1394 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1396 xAlreadyYielded = pdTRUE;
\r
1397 xMissedYield = pdFALSE;
\r
1398 portYIELD_WITHIN_API();
\r
1403 taskEXIT_CRITICAL();
\r
1405 return xAlreadyYielded;
\r
1407 /*-----------------------------------------------------------*/
\r
1409 portTickType xTaskGetTickCount( void )
\r
1411 portTickType xTicks;
\r
1413 /* Critical section required if running on a 16 bit processor. */
\r
1414 taskENTER_CRITICAL();
\r
1416 xTicks = xTickCount;
\r
1418 taskEXIT_CRITICAL();
\r
1422 /*-----------------------------------------------------------*/
\r
1424 portTickType xTaskGetTickCountFromISR( void )
\r
1426 portTickType xReturn;
\r
1427 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1429 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1430 xReturn = xTickCount;
\r
1431 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1435 /*-----------------------------------------------------------*/
\r
1437 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1439 /* A critical section is not required because the variables are of type
\r
1441 return uxCurrentNumberOfTasks;
\r
1443 /*-----------------------------------------------------------*/
\r
1445 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1447 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1451 /* If null is passed in here then the name of the calling task is being queried. */
\r
1452 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1453 configASSERT( pxTCB );
\r
1454 return &( pxTCB->pcTaskName[ 0 ] );
\r
1457 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1458 /*-----------------------------------------------------------*/
\r
1460 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1462 void vTaskList( signed char *pcWriteBuffer )
\r
1464 unsigned portBASE_TYPE uxQueue;
\r
1466 /* This is a VERY costly function that should be used for debug only.
\r
1467 It leaves interrupts disabled for a LONG time. */
\r
1469 vTaskSuspendAll();
\r
1471 /* Run through all the lists that could potentially contain a TCB and
\r
1472 report the task name, state and stack high water mark. */
\r
1474 *pcWriteBuffer = ( signed char ) 0x00;
\r
1475 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1477 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1483 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1485 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1487 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1489 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1491 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1494 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1496 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1499 #if( INCLUDE_vTaskDelete == 1 )
\r
1501 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1503 prvListTaskWithinSingleList( pcWriteBuffer, &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1508 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1510 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1512 prvListTaskWithinSingleList( pcWriteBuffer, &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1520 #endif /* configUSE_TRACE_FACILITY */
\r
1521 /*----------------------------------------------------------*/
\r
1523 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1525 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1527 unsigned portBASE_TYPE uxQueue;
\r
1528 unsigned long ulTotalRunTimeDiv100;
\r
1530 /* This is a VERY costly function that should be used for debug only.
\r
1531 It leaves interrupts disabled for a LONG time. */
\r
1533 vTaskSuspendAll();
\r
1535 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1536 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1538 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1541 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1542 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1543 ulTotalRunTimeDiv100 = ulTotalRunTime / 100UL;
\r
1545 /* Run through all the lists that could potentially contain a TCB,
\r
1546 generating a table of run timer percentages in the provided
\r
1549 *pcWriteBuffer = ( signed char ) 0x00;
\r
1550 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1552 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1558 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1560 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTimeDiv100 );
\r
1562 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1564 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1566 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTimeDiv100 );
\r
1569 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1571 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTimeDiv100 );
\r
1574 #if ( INCLUDE_vTaskDelete == 1 )
\r
1576 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1578 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTimeDiv100 );
\r
1583 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1585 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1587 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTimeDiv100 );
\r
1595 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1596 /*----------------------------------------------------------*/
\r
1598 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1600 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1602 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1603 started, then xIdleTaskHandle will be NULL. */
\r
1604 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1605 return xIdleTaskHandle;
\r
1608 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1609 /*----------------------------------------------------------*/
\r
1611 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1612 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1613 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1615 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1617 void vTaskStepTick( portTickType xTicksToJump )
\r
1619 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1620 xTickCount += xTicksToJump;
\r
1623 #endif /* configUSE_TICKLESS_IDLE */
\r
1624 /*----------------------------------------------------------*/
\r
1626 void vTaskIncrementTick( void )
\r
1630 /* Called by the portable layer each time a tick interrupt occurs.
\r
1631 Increments the tick then checks to see if the new tick value will cause any
\r
1632 tasks to be unblocked. */
\r
1633 traceTASK_INCREMENT_TICK( xTickCount );
\r
1634 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1637 if( xTickCount == ( portTickType ) 0U )
\r
1641 /* Tick count has overflowed so we need to swap the delay lists.
\r
1642 If there are any items in pxDelayedTaskList here then there is
\r
1644 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );
\r
1646 pxTemp = pxDelayedTaskList;
\r
1647 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1648 pxOverflowDelayedTaskList = pxTemp;
\r
1649 xNumOfOverflows++;
\r
1651 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1653 /* The new current delayed list is empty. Set
\r
1654 xNextTaskUnblockTime to the maximum possible value so it is
\r
1655 extremely unlikely that the
\r
1656 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
1657 there is an item in the delayed list. */
\r
1658 xNextTaskUnblockTime = portMAX_DELAY;
\r
1662 /* The new current delayed list is not empty, get the value of
\r
1663 the item at the head of the delayed list. This is the time at
\r
1664 which the task at the head of the delayed list should be removed
\r
1665 from the Blocked state. */
\r
1666 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1667 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1671 /* See if this tick has made a timeout expire. */
\r
1672 prvCheckDelayedTasks();
\r
1678 /* The tick hook gets called at regular intervals, even if the
\r
1679 scheduler is locked. */
\r
1680 #if ( configUSE_TICK_HOOK == 1 )
\r
1682 vApplicationTickHook();
\r
1687 #if ( configUSE_TICK_HOOK == 1 )
\r
1689 /* Guard against the tick hook being called when the missed tick
\r
1690 count is being unwound (when the scheduler is being unlocked. */
\r
1691 if( uxMissedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1693 vApplicationTickHook();
\r
1696 #endif /* configUSE_TICK_HOOK */
\r
1698 /*-----------------------------------------------------------*/
\r
1700 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1702 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1706 /* If xTask is NULL then we are setting our own task hook. */
\r
1707 if( xTask == NULL )
\r
1709 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1713 xTCB = ( tskTCB * ) xTask;
\r
1716 /* Save the hook function in the TCB. A critical section is required as
\r
1717 the value can be accessed from an interrupt. */
\r
1718 taskENTER_CRITICAL();
\r
1719 xTCB->pxTaskTag = pxHookFunction;
\r
1720 taskEXIT_CRITICAL();
\r
1723 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1724 /*-----------------------------------------------------------*/
\r
1726 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1728 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1731 pdTASK_HOOK_CODE xReturn;
\r
1733 /* If xTask is NULL then we are setting our own task hook. */
\r
1734 if( xTask == NULL )
\r
1736 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1740 xTCB = ( tskTCB * ) xTask;
\r
1743 /* Save the hook function in the TCB. A critical section is required as
\r
1744 the value can be accessed from an interrupt. */
\r
1745 taskENTER_CRITICAL();
\r
1746 xReturn = xTCB->pxTaskTag;
\r
1747 taskEXIT_CRITICAL();
\r
1752 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1753 /*-----------------------------------------------------------*/
\r
1755 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1757 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1760 portBASE_TYPE xReturn;
\r
1762 /* If xTask is NULL then we are calling our own task hook. */
\r
1763 if( xTask == NULL )
\r
1765 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1769 xTCB = ( tskTCB * ) xTask;
\r
1772 if( xTCB->pxTaskTag != NULL )
\r
1774 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1784 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1785 /*-----------------------------------------------------------*/
\r
1787 void vTaskSwitchContext( void )
\r
1789 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1791 /* The scheduler is currently suspended - do not allow a context
\r
1793 xMissedYield = pdTRUE;
\r
1797 traceTASK_SWITCHED_OUT();
\r
1799 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1801 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1802 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1804 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1807 /* Add the amount of time the task has been running to the accumulated
\r
1808 time so far. The time the task started running was stored in
\r
1809 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1810 so count values are only valid until the timer overflows. Generally
\r
1811 this will be about 1 hour assuming a 1uS timer increment. */
\r
1812 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
1813 ulTaskSwitchedInTime = ulTotalRunTime;
\r
1815 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1817 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1818 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1820 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
1822 traceTASK_SWITCHED_IN();
\r
1825 /*-----------------------------------------------------------*/
\r
1827 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1829 portTickType xTimeToWake;
\r
1831 configASSERT( pxEventList );
\r
1833 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1834 SCHEDULER SUSPENDED. */
\r
1836 /* Place the event list item of the TCB in the appropriate event list.
\r
1837 This is placed in the list in priority order so the highest priority task
\r
1838 is the first to be woken by the event. */
\r
1839 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1841 /* We must remove ourselves from the ready list before adding ourselves
\r
1842 to the blocked list as the same list item is used for both lists. We have
\r
1843 exclusive access to the ready lists as the scheduler is locked. */
\r
1844 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1846 /* The current task must be in a ready list, so there is no need to
\r
1847 check, and the port reset macro can be called directly. */
\r
1848 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1851 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1853 if( xTicksToWait == portMAX_DELAY )
\r
1855 /* Add ourselves to the suspended task list instead of a delayed task
\r
1856 list to ensure we are not woken by a timing event. We will block
\r
1858 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1862 /* Calculate the time at which the task should be woken if the event does
\r
1863 not occur. This may overflow but this doesn't matter. */
\r
1864 xTimeToWake = xTickCount + xTicksToWait;
\r
1865 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1868 #else /* INCLUDE_vTaskSuspend */
\r
1870 /* Calculate the time at which the task should be woken if the event does
\r
1871 not occur. This may overflow but this doesn't matter. */
\r
1872 xTimeToWake = xTickCount + xTicksToWait;
\r
1873 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1875 #endif /* INCLUDE_vTaskSuspend */
\r
1877 /*-----------------------------------------------------------*/
\r
1879 #if configUSE_TIMERS == 1
\r
1881 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1883 portTickType xTimeToWake;
\r
1885 configASSERT( pxEventList );
\r
1887 /* This function should not be called by application code hence the
\r
1888 'Restricted' in its name. It is not part of the public API. It is
\r
1889 designed for use by kernel code, and has special calling requirements -
\r
1890 it should be called from a critical section. */
\r
1893 /* Place the event list item of the TCB in the appropriate event list.
\r
1894 In this case it is assume that this is the only task that is going to
\r
1895 be waiting on this event list, so the faster vListInsertEnd() function
\r
1896 can be used in place of vListInsert. */
\r
1897 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1899 /* We must remove this task from the ready list before adding it to the
\r
1900 blocked list as the same list item is used for both lists. This
\r
1901 function is called form a critical section. */
\r
1902 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1904 /* The current task must be in a ready list, so there is no need to
\r
1905 check, and the port reset macro can be called directly. */
\r
1906 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1909 /* Calculate the time at which the task should be woken if the event does
\r
1910 not occur. This may overflow but this doesn't matter. */
\r
1911 xTimeToWake = xTickCount + xTicksToWait;
\r
1913 traceTASK_DELAY_UNTIL();
\r
1914 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1917 #endif /* configUSE_TIMERS */
\r
1918 /*-----------------------------------------------------------*/
\r
1920 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1922 tskTCB *pxUnblockedTCB;
\r
1923 portBASE_TYPE xReturn;
\r
1925 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1926 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1928 /* The event list is sorted in priority order, so we can remove the
\r
1929 first in the list, remove the TCB from the delayed list, and add
\r
1930 it to the ready list.
\r
1932 If an event is for a queue that is locked then this function will never
\r
1933 get called - the lock count on the queue will get modified instead. This
\r
1934 means we can always expect exclusive access to the event list here.
\r
1936 This function assumes that a check has already been made to ensure that
\r
1937 pxEventList is not empty. */
\r
1938 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1939 configASSERT( pxUnblockedTCB );
\r
1940 uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1942 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1944 uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1945 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1949 /* We cannot access the delayed or ready lists, so will hold this
\r
1950 task pending until the scheduler is resumed. */
\r
1951 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1954 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1956 /* Return true if the task removed from the event list has
\r
1957 a higher priority than the calling task. This allows
\r
1958 the calling task to know if it should force a context
\r
1964 xReturn = pdFALSE;
\r
1969 /*-----------------------------------------------------------*/
\r
1971 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1973 configASSERT( pxTimeOut );
\r
1974 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1975 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1977 /*-----------------------------------------------------------*/
\r
1979 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1981 portBASE_TYPE xReturn;
\r
1983 configASSERT( pxTimeOut );
\r
1984 configASSERT( pxTicksToWait );
\r
1986 taskENTER_CRITICAL();
\r
1988 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1989 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1990 the maximum block time then the task should block indefinitely, and
\r
1991 therefore never time out. */
\r
1992 if( *pxTicksToWait == portMAX_DELAY )
\r
1994 xReturn = pdFALSE;
\r
1996 else /* We are not blocking indefinitely, perform the checks below. */
\r
1999 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
2001 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2002 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2003 It must have wrapped all the way around and gone past us again. This
\r
2004 passed since vTaskSetTimeout() was called. */
\r
2007 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
2009 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2010 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
2011 vTaskSetTimeOutState( pxTimeOut );
\r
2012 xReturn = pdFALSE;
\r
2019 taskEXIT_CRITICAL();
\r
2023 /*-----------------------------------------------------------*/
\r
2025 void vTaskMissedYield( void )
\r
2027 xMissedYield = pdTRUE;
\r
2029 /*-----------------------------------------------------------*/
\r
2031 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2033 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
2035 unsigned portBASE_TYPE uxReturn;
\r
2038 if( xTask != NULL )
\r
2040 pxTCB = ( tskTCB * ) xTask;
\r
2041 uxReturn = pxTCB->uxTaskNumber;
\r
2051 #endif /* configUSE_TRACE_FACILITY */
\r
2052 /*-----------------------------------------------------------*/
\r
2054 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2056 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
2060 if( xTask != NULL )
\r
2062 pxTCB = ( tskTCB * ) xTask;
\r
2063 pxTCB->uxTaskNumber = uxHandle;
\r
2067 #endif /* configUSE_TRACE_FACILITY */
\r
2070 * -----------------------------------------------------------
\r
2072 * ----------------------------------------------------------
\r
2074 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2075 * language extensions. The equivalent prototype for this function is:
\r
2077 * void prvIdleTask( void *pvParameters );
\r
2080 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2082 /* Stop warnings. */
\r
2083 ( void ) pvParameters;
\r
2087 /* See if any tasks have been deleted. */
\r
2088 prvCheckTasksWaitingTermination();
\r
2090 #if ( configUSE_PREEMPTION == 0 )
\r
2092 /* If we are not using preemption we keep forcing a task switch to
\r
2093 see if any other task has become available. If we are using
\r
2094 preemption we don't need to do this as any task becoming available
\r
2095 will automatically get the processor anyway. */
\r
2098 #endif /* configUSE_PREEMPTION */
\r
2100 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2102 /* When using preemption tasks of equal priority will be
\r
2103 timesliced. If a task that is sharing the idle priority is ready
\r
2104 to run then the idle task should yield before the end of the
\r
2107 A critical region is not required here as we are just reading from
\r
2108 the list, and an occasional incorrect value will not matter. If
\r
2109 the ready list at the idle priority contains more than one task
\r
2110 then a task other than the idle task is ready to execute. */
\r
2111 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2116 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2118 #if ( configUSE_IDLE_HOOK == 1 )
\r
2120 extern void vApplicationIdleHook( void );
\r
2122 /* Call the user defined function from within the idle task. This
\r
2123 allows the application designer to add background functionality
\r
2124 without the overhead of a separate task.
\r
2125 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2126 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2127 vApplicationIdleHook();
\r
2129 #endif /* configUSE_IDLE_HOOK */
\r
2131 /* This conditional compilation should use inequality to 0, not equality
\r
2132 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2133 user defined low power mode implementations require
\r
2134 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2135 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2137 portTickType xExpectedIdleTime;
\r
2138 /* It is not desirable to suspend then resume the scheduler on
\r
2139 each iteration of the idle task. Therefore, a preliminary
\r
2140 test of the expected idle time is performed without the
\r
2141 scheduler suspended. The result here is not necessarily
\r
2143 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2145 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2147 vTaskSuspendAll();
\r
2149 /* Now the scheduler is suspended, the expected idle
\r
2150 time can be sampled again, and this time its value can
\r
2152 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2153 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2155 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2157 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2163 #endif /* configUSE_TICKLESS_IDLE */
\r
2165 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
2166 /*-----------------------------------------------------------*/
\r
2168 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2170 /* Store the function name in the TCB. */
\r
2171 #if configMAX_TASK_NAME_LEN > 1
\r
2173 /* Don't bring strncpy into the build unnecessarily. */
\r
2174 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
2176 #endif /* configMAX_TASK_NAME_LEN */
\r
2177 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
\r
2179 /* This is used as an array index so must ensure it's not too large. First
\r
2180 remove the privilege bit if one is present. */
\r
2181 if( uxPriority >= configMAX_PRIORITIES )
\r
2183 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2186 pxTCB->uxPriority = uxPriority;
\r
2187 #if ( configUSE_MUTEXES == 1 )
\r
2189 pxTCB->uxBasePriority = uxPriority;
\r
2191 #endif /* configUSE_MUTEXES */
\r
2193 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2194 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2196 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2197 back to the containing TCB from a generic item in a list. */
\r
2198 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2200 /* Event lists are always in priority order. */
\r
2201 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
2202 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2204 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2206 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2208 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2210 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2212 pxTCB->pxTaskTag = NULL;
\r
2214 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2216 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2218 pxTCB->ulRunTimeCounter = 0UL;
\r
2220 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2222 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2224 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2226 #else /* portUSING_MPU_WRAPPERS */
\r
2228 ( void ) xRegions;
\r
2229 ( void ) usStackDepth;
\r
2231 #endif /* portUSING_MPU_WRAPPERS */
\r
2233 /*-----------------------------------------------------------*/
\r
2235 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2237 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2241 if( xTaskToModify == pxCurrentTCB )
\r
2243 xTaskToModify = NULL;
\r
2246 /* If null is passed in here then we are deleting ourselves. */
\r
2247 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2249 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2252 #endif /* portUSING_MPU_WRAPPERS */
\r
2253 /*-----------------------------------------------------------*/
\r
2255 static void prvInitialiseTaskLists( void )
\r
2257 unsigned portBASE_TYPE uxPriority;
\r
2259 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2261 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2264 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2265 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2266 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2268 #if ( INCLUDE_vTaskDelete == 1 )
\r
2270 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2272 #endif /* INCLUDE_vTaskDelete */
\r
2274 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2276 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2278 #endif /* INCLUDE_vTaskSuspend */
\r
2280 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2282 pxDelayedTaskList = &xDelayedTaskList1;
\r
2283 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2285 /*-----------------------------------------------------------*/
\r
2287 static void prvCheckTasksWaitingTermination( void )
\r
2289 #if ( INCLUDE_vTaskDelete == 1 )
\r
2291 portBASE_TYPE xListIsEmpty;
\r
2293 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2294 too often in the idle task. */
\r
2295 while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2297 vTaskSuspendAll();
\r
2298 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2301 if( xListIsEmpty == pdFALSE )
\r
2305 taskENTER_CRITICAL();
\r
2307 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2308 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2309 --uxCurrentNumberOfTasks;
\r
2312 taskEXIT_CRITICAL();
\r
2314 prvDeleteTCB( pxTCB );
\r
2318 #endif /* vTaskDelete */
\r
2320 /*-----------------------------------------------------------*/
\r
2322 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2324 /* The list item will be inserted in wake time order. */
\r
2325 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2327 if( xTimeToWake < xTickCount )
\r
2329 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2330 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2334 /* The wake time has not overflowed, so we can use the current block list. */
\r
2335 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2337 /* If the task entering the blocked state was placed at the head of the
\r
2338 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2340 if( xTimeToWake < xNextTaskUnblockTime )
\r
2342 xNextTaskUnblockTime = xTimeToWake;
\r
2346 /*-----------------------------------------------------------*/
\r
2348 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2352 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2353 the implementation of the port malloc function. */
\r
2354 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2356 if( pxNewTCB != NULL )
\r
2358 /* Allocate space for the stack used by the task being created.
\r
2359 The base of the stack memory stored in the TCB so the task can
\r
2360 be deleted later if required. */
\r
2361 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2363 if( pxNewTCB->pxStack == NULL )
\r
2365 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2366 vPortFree( pxNewTCB );
\r
2371 /* Just to help debugging. */
\r
2372 memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2378 /*-----------------------------------------------------------*/
\r
2380 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2382 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2384 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2385 unsigned short usStackRemaining;
\r
2386 PRIVILEGED_DATA static char pcStatusString[ configMAX_TASK_NAME_LEN + 30 ];
\r
2388 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2389 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2392 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2393 #if ( portSTACK_GROWTH > 0 )
\r
2395 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2399 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2403 sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, ( unsigned int ) usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
\r
2404 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2406 } while( pxNextTCB != pxFirstTCB );
\r
2409 #endif /* configUSE_TRACE_FACILITY */
\r
2410 /*-----------------------------------------------------------*/
\r
2412 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2414 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTimeDiv100 )
\r
2416 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2417 unsigned long ulStatsAsPercentage;
\r
2419 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2420 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2423 /* Get next TCB in from the list. */
\r
2424 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2426 /* Divide by zero check. */
\r
2427 if( ulTotalRunTimeDiv100 > 0UL )
\r
2429 /* Has the task run at all? */
\r
2430 if( pxNextTCB->ulRunTimeCounter == 0UL )
\r
2432 /* The task has used no CPU time at all. */
\r
2433 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2437 /* What percentage of the total run time has the task used?
\r
2438 This will always be rounded down to the nearest integer.
\r
2439 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
2440 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTimeDiv100;
\r
2442 if( ulStatsAsPercentage > 0UL )
\r
2444 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2446 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2450 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2451 printf() library can be used. */
\r
2452 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2458 /* If the percentage is zero here then the task has
\r
2459 consumed less than 1% of the total run time. */
\r
2460 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2462 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2466 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2467 printf() library can be used. */
\r
2468 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2474 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2477 } while( pxNextTCB != pxFirstTCB );
\r
2480 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2481 /*-----------------------------------------------------------*/
\r
2483 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2485 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2487 register unsigned short usCount = 0U;
\r
2489 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2491 pucStackByte -= portSTACK_GROWTH;
\r
2495 usCount /= sizeof( portSTACK_TYPE );
\r
2500 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
2501 /*-----------------------------------------------------------*/
\r
2503 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2505 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2508 unsigned char *pcEndOfStack;
\r
2509 unsigned portBASE_TYPE uxReturn;
\r
2511 pxTCB = prvGetTCBFromHandle( xTask );
\r
2513 #if portSTACK_GROWTH < 0
\r
2515 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2519 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2523 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2528 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
2529 /*-----------------------------------------------------------*/
\r
2531 #if ( INCLUDE_vTaskDelete == 1 )
\r
2533 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2535 /* This call is required specifically for the TriCore port. It must be
\r
2536 above the vPortFree() calls. The call is also used by ports/demos that
\r
2537 want to allocate and clean RAM statically. */
\r
2538 portCLEAN_UP_TCB( pxTCB );
\r
2540 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2541 the task to free any memory allocated at the application level. */
\r
2542 vPortFreeAligned( pxTCB->pxStack );
\r
2543 vPortFree( pxTCB );
\r
2546 #endif /* INCLUDE_vTaskDelete */
\r
2547 /*-----------------------------------------------------------*/
\r
2549 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2551 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2553 xTaskHandle xReturn;
\r
2555 /* A critical section is not required as this is not called from
\r
2556 an interrupt and the current TCB will always be the same for any
\r
2557 individual execution thread. */
\r
2558 xReturn = pxCurrentTCB;
\r
2563 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
2564 /*-----------------------------------------------------------*/
\r
2566 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2568 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2570 portBASE_TYPE xReturn;
\r
2572 if( xSchedulerRunning == pdFALSE )
\r
2574 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2578 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2580 xReturn = taskSCHEDULER_RUNNING;
\r
2584 xReturn = taskSCHEDULER_SUSPENDED;
\r
2591 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
2592 /*-----------------------------------------------------------*/
\r
2594 #if ( configUSE_MUTEXES == 1 )
\r
2596 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2598 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2600 /* If the mutex was given back by an interrupt while the queue was
\r
2601 locked then the mutex holder might now be NULL. */
\r
2602 if( pxMutexHolder != NULL )
\r
2604 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2606 /* Adjust the mutex holder state to account for its new priority. */
\r
2607 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2609 /* If the task being modified is in the ready state it will need to
\r
2610 be moved into a new list. */
\r
2611 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2613 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2615 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2618 /* Inherit the priority before being moved into the new list. */
\r
2619 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2620 prvAddTaskToReadyQueue( pxTCB );
\r
2624 /* Just inherit the priority. */
\r
2625 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2628 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2633 #endif /* configUSE_MUTEXES */
\r
2634 /*-----------------------------------------------------------*/
\r
2636 #if ( configUSE_MUTEXES == 1 )
\r
2638 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2640 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2642 if( pxMutexHolder != NULL )
\r
2644 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2646 /* We must be the running task to be able to give the mutex back.
\r
2647 Remove ourselves from the ready list we currently appear in. */
\r
2648 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2650 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2653 /* Disinherit the priority before adding the task into the new
\r
2655 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2656 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2657 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2658 prvAddTaskToReadyQueue( pxTCB );
\r
2663 #endif /* configUSE_MUTEXES */
\r
2664 /*-----------------------------------------------------------*/
\r
2666 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2668 void vTaskEnterCritical( void )
\r
2670 portDISABLE_INTERRUPTS();
\r
2672 if( xSchedulerRunning != pdFALSE )
\r
2674 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2678 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2679 /*-----------------------------------------------------------*/
\r
2681 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2683 void vTaskExitCritical( void )
\r
2685 if( xSchedulerRunning != pdFALSE )
\r
2687 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2689 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2691 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2693 portENABLE_INTERRUPTS();
\r
2699 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2700 /*-----------------------------------------------------------*/
\r
projects / freertos / blob