2 FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not itcan be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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75 /* Standard includes. */
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80 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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81 all the API functions to use the MPU wrappers. That should only be done when
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82 task.h is included from an application file. */
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83 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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85 /* FreeRTOS includes. */
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86 #include "FreeRTOS.h"
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89 #include "StackMacros.h"
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91 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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93 /* Sanity check the configuration. */
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94 #if configUSE_TICKLESS_IDLE != 0
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95 #if INCLUDE_vTaskSuspend != 1
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96 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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97 #endif /* INCLUDE_vTaskSuspend */
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98 #endif /* configUSE_TICKLESS_IDLE */
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101 * Defines the size, in words, of the stack allocated to the idle task.
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103 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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106 * Task control block. A task control block (TCB) is allocated for each task,
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107 * and stores task state information, including a pointer to the task's context
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108 * (the task's run time environment, including register values)
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110 typedef struct tskTaskControlBlock
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112 volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
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114 #if ( portUSING_MPU_WRAPPERS == 1 )
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115 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
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118 xListItem xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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119 xListItem xEventListItem; /*< Used to reference a task from an event list. */
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120 unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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121 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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122 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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124 #if ( portSTACK_GROWTH > 0 )
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125 portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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128 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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129 unsigned portBASE_TYPE uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
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132 #if ( configUSE_TRACE_FACILITY == 1 )
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133 unsigned portBASE_TYPE uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
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134 unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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137 #if ( configUSE_MUTEXES == 1 )
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138 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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141 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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142 pdTASK_HOOK_CODE pxTaskTag;
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145 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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146 unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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153 * Some kernel aware debuggers require the data the debugger needs access to to
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154 * be global, rather than file scope.
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156 #ifdef portREMOVE_STATIC_QUALIFIER
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161 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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163 /* Lists for ready and blocked tasks. --------------------*/
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164 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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165 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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166 PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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167 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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168 PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
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169 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */
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171 #if ( INCLUDE_vTaskDelete == 1 )
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173 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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174 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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178 #if ( INCLUDE_vTaskSuspend == 1 )
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180 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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184 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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186 PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
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190 /* File private variables. --------------------------------*/
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191 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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192 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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193 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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194 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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195 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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196 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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197 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0U;
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198 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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199 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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200 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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201 PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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203 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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205 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
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206 PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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207 PRIVILEGED_DATA static unsigned long ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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208 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTimeDiv100 ) PRIVILEGED_FUNCTION;
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212 /* Debugging and trace facilities private variables and macros. ------------*/
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215 * The value used to fill the stack of a task when the task is created. This
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216 * is used purely for checking the high water mark for tasks.
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218 #define tskSTACK_FILL_BYTE ( 0xa5U )
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221 * Macros used by vListTask to indicate which state a task is in.
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223 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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224 #define tskREADY_CHAR ( ( signed char ) 'R' )
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225 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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226 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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228 /*-----------------------------------------------------------*/
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230 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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232 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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233 performed in a generic way that is not optimised to any particular
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234 microcontroller architecture. */
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236 /* uxTopReadyPriority holds the priority of the highest priority ready
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238 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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240 if( ( uxPriority ) > uxTopReadyPriority ) \
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242 uxTopReadyPriority = ( uxPriority ); \
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244 } /* taskRECORD_READY_PRIORITY */
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246 /*-----------------------------------------------------------*/
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248 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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250 /* Find the highest priority queue that contains ready tasks. */ \
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251 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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253 configASSERT( uxTopReadyPriority ); \
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254 --uxTopReadyPriority; \
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257 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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258 the same priority get an equal share of the processor time. */ \
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259 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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260 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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262 /*-----------------------------------------------------------*/
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264 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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265 they are only required when a port optimised method of task selection is
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267 #define taskRESET_READY_PRIORITY( uxPriority )
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268 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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270 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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272 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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273 performed in a way that is tailored to the particular microcontroller
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274 architecture being used. */
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276 /* A port optimised version is provided. Call the port defined macros. */
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277 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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279 /*-----------------------------------------------------------*/
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281 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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283 unsigned portBASE_TYPE uxTopPriority; \
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285 /* Find the highest priority queue that contains ready tasks. */ \
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286 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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287 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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288 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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289 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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291 /*-----------------------------------------------------------*/
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293 /* A port optimised version is provided, call it only if the TCB being reset
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294 is being referenced from a ready list. If it is referenced from a delayed
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295 or suspended list then it won't be in a ready list. */
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296 #define taskRESET_READY_PRIORITY( uxPriority ) \
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298 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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300 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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304 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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307 * Place the task represented by pxTCB into the appropriate ready queue for
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308 * the task. It is inserted at the end of the list. One quirk of this is
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309 * that if the task being inserted is at the same priority as the currently
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310 * executing task, then it will only be rescheduled after the currently
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311 * executing task has been rescheduled.
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313 #define prvAddTaskToReadyQueue( pxTCB ) \
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314 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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315 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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316 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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317 /*-----------------------------------------------------------*/
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320 * Macro that looks at the list of tasks that are currently delayed to see if
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321 * any require waking.
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323 * Tasks are stored in the queue in the order of their wake time - meaning
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324 * once one tasks has been found whose timer has not expired we need not look
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325 * any further down the list.
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327 #define prvCheckDelayedTasks() \
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329 portTickType xItemValue; \
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331 /* Is the tick count greater than or equal to the wake time of the first \
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332 task referenced from the delayed tasks list? */ \
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333 if( xTickCount >= xNextTaskUnblockTime ) \
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337 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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339 /* The delayed list is empty. Set xNextTaskUnblockTime to the \
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340 maximum possible value so it is extremely unlikely that the \
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341 if( xTickCount >= xNextTaskUnblockTime ) test will pass next \
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343 xNextTaskUnblockTime = portMAX_DELAY; \
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348 /* The delayed list is not empty, get the value of the item at \
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349 the head of the delayed list. This is the time at which the \
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350 task at the head of the delayed list should be removed from \
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351 the Blocked state. */ \
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352 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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353 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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355 if( xTickCount < xItemValue ) \
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357 /* It is not time to unblock this item yet, but the item \
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358 value is the time at which the task at the head of the \
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359 blocked list should be removed from the Blocked state - \
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360 so record the item value in xNextTaskUnblockTime. */ \
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361 xNextTaskUnblockTime = xItemValue; \
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365 /* It is time to remove the item from the Blocked state. */ \
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366 uxListRemove( &( pxTCB->xGenericListItem ) ); \
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368 /* Is the task waiting on an event also? */ \
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369 if( pxTCB->xEventListItem.pvContainer != NULL ) \
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371 uxListRemove( &( pxTCB->xEventListItem ) ); \
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373 prvAddTaskToReadyQueue( pxTCB ); \
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378 /*-----------------------------------------------------------*/
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381 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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382 * where NULL is used to indicate that the handle of the currently executing
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383 * task should be used in place of the parameter. This macro simply checks to
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384 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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386 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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388 /* Callback function prototypes. --------------------------*/
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389 extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
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390 extern void vApplicationTickHook( void );
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392 /* File private functions. --------------------------------*/
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395 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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396 * into the TCB structure.
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398 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
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401 * Utility to ready all the lists used by the scheduler. This is called
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402 * automatically upon the creation of the first task.
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404 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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407 * The idle task, which as all tasks is implemented as a never ending loop.
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408 * The idle task is automatically created and added to the ready lists upon
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409 * creation of the first user task.
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411 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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412 * language extensions. The equivalent prototype for this function is:
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414 * void prvIdleTask( void *pvParameters );
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417 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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420 * Utility to free all memory allocated by the scheduler to hold a TCB,
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421 * including the stack pointed to by the TCB.
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423 * This does not free memory allocated by the task itself (i.e. memory
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424 * allocated by calls to pvPortMalloc from within the tasks application code).
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426 #if ( INCLUDE_vTaskDelete == 1 )
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428 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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433 * Used only by the idle task. This checks to see if anything has been placed
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434 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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435 * and its TCB deleted.
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437 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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440 * The currently executing task is entering the Blocked state. Add the task to
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441 * either the current or the overflow delayed task list.
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443 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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446 * Allocates memory from the heap for a TCB and associated stack. Checks the
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447 * allocation was successful.
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449 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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452 * Called from vTaskList. vListTasks details all the tasks currently under
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453 * control of the scheduler. The tasks may be in one of a number of lists.
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454 * prvListTaskWithinSingleList accepts a list and details the tasks from
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455 * within just that list.
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457 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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458 * NORMAL APPLICATION CODE.
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460 #if ( configUSE_TRACE_FACILITY == 1 )
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462 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
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467 * When a task is created, the stack of the task is filled with a known value.
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468 * This function determines the 'high water mark' of the task stack by
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469 * determining how much of the stack remains at the original preset value.
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471 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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473 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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478 * Return the amount of time, in ticks, that will pass before the kernel will
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479 * next move a task from the Blocked state to the Running state.
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481 * This conditional compilation should use inequality to 0, not equality to 1.
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482 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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483 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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484 * set to a value other than 1.
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486 #if ( configUSE_TICKLESS_IDLE != 0 )
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488 static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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494 signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
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496 signed portBASE_TYPE xReturn;
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499 configASSERT( pxTaskCode );
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500 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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502 /* Allocate the memory required by the TCB and stack for the new task,
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503 checking that the allocation was successful. */
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504 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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506 if( pxNewTCB != NULL )
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508 portSTACK_TYPE *pxTopOfStack;
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510 #if( portUSING_MPU_WRAPPERS == 1 )
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511 /* Should the task be created in privileged mode? */
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512 portBASE_TYPE xRunPrivileged;
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513 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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515 xRunPrivileged = pdTRUE;
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519 xRunPrivileged = pdFALSE;
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521 uxPriority &= ~portPRIVILEGE_BIT;
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522 #endif /* portUSING_MPU_WRAPPERS == 1 */
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524 /* Calculate the top of stack address. This depends on whether the
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525 stack grows from high memory to low (as per the 80x86) or visa versa.
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526 portSTACK_GROWTH is used to make the result positive or negative as
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527 required by the port. */
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528 #if( portSTACK_GROWTH < 0 )
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530 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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531 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
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533 /* Check the alignment of the calculated top of stack is correct. */
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534 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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536 #else /* portSTACK_GROWTH */
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538 pxTopOfStack = pxNewTCB->pxStack;
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540 /* Check the alignment of the stack buffer is correct. */
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541 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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543 /* If we want to use stack checking on architectures that use
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544 a positive stack growth direction then we also need to store the
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545 other extreme of the stack space. */
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546 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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548 #endif /* portSTACK_GROWTH */
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550 /* Setup the newly allocated TCB with the initial state of the task. */
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551 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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553 /* Initialize the TCB stack to look as if the task was already running,
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554 but had been interrupted by the scheduler. The return address is set
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555 to the start of the task function. Once the stack has been initialised
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556 the top of stack variable is updated. */
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557 #if( portUSING_MPU_WRAPPERS == 1 )
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559 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
561 #else /* portUSING_MPU_WRAPPERS */
\r
563 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
565 #endif /* portUSING_MPU_WRAPPERS */
\r
567 /* Check the alignment of the initialised stack. */
\r
568 portALIGNMENT_ASSERT_pxCurrentTCB( ( ( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
570 if( ( void * ) pxCreatedTask != NULL )
\r
572 /* Pass the TCB out - in an anonymous way. The calling function/
\r
573 task can use this as a handle to delete the task later if
\r
575 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
\r
578 /* We are going to manipulate the task queues to add this task to a
\r
579 ready list, so must make sure no interrupts occur. */
\r
580 taskENTER_CRITICAL();
\r
582 uxCurrentNumberOfTasks++;
\r
583 if( pxCurrentTCB == NULL )
\r
585 /* There are no other tasks, or all the other tasks are in
\r
586 the suspended state - make this the current task. */
\r
587 pxCurrentTCB = pxNewTCB;
\r
589 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
591 /* This is the first task to be created so do the preliminary
\r
592 initialisation required. We will not recover if this call
\r
593 fails, but we will report the failure. */
\r
594 prvInitialiseTaskLists();
\r
599 /* If the scheduler is not already running, make this task the
\r
600 current task if it is the highest priority task to be created
\r
602 if( xSchedulerRunning == pdFALSE )
\r
604 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
606 pxCurrentTCB = pxNewTCB;
\r
611 /* Remember the top priority to make context switching faster. Use
\r
612 the priority in pxNewTCB as this has been capped to a valid value. */
\r
613 if( pxNewTCB->uxPriority > uxTopUsedPriority )
\r
615 uxTopUsedPriority = pxNewTCB->uxPriority;
\r
620 #if ( configUSE_TRACE_FACILITY == 1 )
\r
622 /* Add a counter into the TCB for tracing only. */
\r
623 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
625 #endif /* configUSE_TRACE_FACILITY */
\r
626 traceTASK_CREATE( pxNewTCB );
\r
628 prvAddTaskToReadyQueue( pxNewTCB );
\r
631 portSETUP_TCB( pxNewTCB );
\r
633 taskEXIT_CRITICAL();
\r
637 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
638 traceTASK_CREATE_FAILED();
\r
641 if( xReturn == pdPASS )
\r
643 if( xSchedulerRunning != pdFALSE )
\r
645 /* If the created task is of a higher priority than the current task
\r
646 then it should run now. */
\r
647 if( pxCurrentTCB->uxPriority < uxPriority )
\r
649 portYIELD_WITHIN_API();
\r
656 /*-----------------------------------------------------------*/
\r
658 #if ( INCLUDE_vTaskDelete == 1 )
\r
660 void vTaskDelete( xTaskHandle xTaskToDelete )
\r
664 taskENTER_CRITICAL();
\r
666 /* Ensure a yield is performed if the current task is being
\r
668 if( xTaskToDelete == pxCurrentTCB )
\r
670 xTaskToDelete = NULL;
\r
673 /* If null is passed in here then we are deleting ourselves. */
\r
674 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
676 /* Remove task from the ready list and place in the termination list.
\r
677 This will stop the task from be scheduled. The idle task will check
\r
678 the termination list and free up any memory allocated by the
\r
679 scheduler for the TCB and stack. */
\r
680 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
682 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
685 /* Is the task waiting on an event also? */
\r
686 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
688 uxListRemove( &( pxTCB->xEventListItem ) );
\r
691 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
693 /* Increment the ucTasksDeleted variable so the idle task knows
\r
694 there is a task that has been deleted and that it should therefore
\r
695 check the xTasksWaitingTermination list. */
\r
698 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
699 can detect that the task lists need re-generating. */
\r
702 traceTASK_DELETE( pxTCB );
\r
704 taskEXIT_CRITICAL();
\r
706 /* Force a reschedule if we have just deleted the current task. */
\r
707 if( xSchedulerRunning != pdFALSE )
\r
709 if( ( void * ) xTaskToDelete == NULL )
\r
711 portYIELD_WITHIN_API();
\r
713 /* Ensure the task goes no further if it takes a few
\r
714 instructions for the yield to occur. */
\r
717 /* Nothing to do here, just ensuring the task does not
\r
718 execute further before the yield has taken effect. */
\r
724 #endif /* INCLUDE_vTaskDelete */
\r
725 /*-----------------------------------------------------------*/
\r
727 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
729 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
731 portTickType xTimeToWake;
\r
732 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
734 configASSERT( pxPreviousWakeTime );
\r
735 configASSERT( ( xTimeIncrement > 0U ) );
\r
739 /* Generate the tick time at which the task wants to wake. */
\r
740 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
742 if( xTickCount < *pxPreviousWakeTime )
\r
744 /* The tick count has overflowed since this function was
\r
745 lasted called. In this case the only time we should ever
\r
746 actually delay is if the wake time has also overflowed,
\r
747 and the wake time is greater than the tick time. When this
\r
748 is the case it is as if neither time had overflowed. */
\r
749 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
751 xShouldDelay = pdTRUE;
\r
756 /* The tick time has not overflowed. In this case we will
\r
757 delay if either the wake time has overflowed, and/or the
\r
758 tick time is less than the wake time. */
\r
759 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
761 xShouldDelay = pdTRUE;
\r
765 /* Update the wake time ready for the next call. */
\r
766 *pxPreviousWakeTime = xTimeToWake;
\r
768 if( xShouldDelay != pdFALSE )
\r
770 traceTASK_DELAY_UNTIL();
\r
772 /* We must remove ourselves from the ready list before adding
\r
773 ourselves to the blocked list as the same list item is used for
\r
775 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
777 /* The current task must be in a ready list, so there is
\r
778 no need to check, and the port reset macro can be called
\r
780 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
783 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
786 xAlreadyYielded = xTaskResumeAll();
\r
788 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
789 have put ourselves to sleep. */
\r
790 if( xAlreadyYielded == pdFALSE )
\r
792 portYIELD_WITHIN_API();
\r
796 #endif /* INCLUDE_vTaskDelayUntil */
\r
797 /*-----------------------------------------------------------*/
\r
799 #if ( INCLUDE_vTaskDelay == 1 )
\r
801 void vTaskDelay( portTickType xTicksToDelay )
\r
803 portTickType xTimeToWake;
\r
804 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
806 /* A delay time of zero just forces a reschedule. */
\r
807 if( xTicksToDelay > ( portTickType ) 0U )
\r
813 /* A task that is removed from the event list while the
\r
814 scheduler is suspended will not get placed in the ready
\r
815 list or removed from the blocked list until the scheduler
\r
818 This task cannot be in an event list as it is the currently
\r
821 /* Calculate the time to wake - this may overflow but this is
\r
823 xTimeToWake = xTickCount + xTicksToDelay;
\r
825 /* We must remove ourselves from the ready list before adding
\r
826 ourselves to the blocked list as the same list item is used for
\r
828 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
830 /* The current task must be in a ready list, so there is
\r
831 no need to check, and the port reset macro can be called
\r
833 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
835 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
837 xAlreadyYielded = xTaskResumeAll();
\r
840 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
841 have put ourselves to sleep. */
\r
842 if( xAlreadyYielded == pdFALSE )
\r
844 portYIELD_WITHIN_API();
\r
848 #endif /* INCLUDE_vTaskDelay */
\r
849 /*-----------------------------------------------------------*/
\r
851 #if ( INCLUDE_eTaskGetState == 1 )
\r
853 eTaskState eTaskGetState( xTaskHandle xTask )
\r
855 eTaskState eReturn;
\r
856 xList *pxStateList;
\r
859 pxTCB = ( tskTCB * ) xTask;
\r
861 if( pxTCB == pxCurrentTCB )
\r
863 /* The task calling this function is querying its own state. */
\r
864 eReturn = eRunning;
\r
868 taskENTER_CRITICAL();
\r
870 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
872 taskEXIT_CRITICAL();
\r
874 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
876 /* The task being queried is referenced from one of the Blocked
\r
878 eReturn = eBlocked;
\r
881 #if ( INCLUDE_vTaskSuspend == 1 )
\r
882 else if( pxStateList == &xSuspendedTaskList )
\r
884 /* The task being queried is referenced from the suspended
\r
886 eReturn = eSuspended;
\r
890 #if ( INCLUDE_vTaskDelete == 1 )
\r
891 else if( pxStateList == &xTasksWaitingTermination )
\r
893 /* The task being queried is referenced from the deleted
\r
895 eReturn = eDeleted;
\r
901 /* If the task is not in any other state, it must be in the
\r
902 Ready (including pending ready) state. */
\r
910 #endif /* INCLUDE_eTaskGetState */
\r
911 /*-----------------------------------------------------------*/
\r
913 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
915 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
\r
918 unsigned portBASE_TYPE uxReturn;
\r
920 taskENTER_CRITICAL();
\r
922 /* If null is passed in here then we are changing the
\r
923 priority of the calling function. */
\r
924 pxTCB = prvGetTCBFromHandle( xTask );
\r
925 uxReturn = pxTCB->uxPriority;
\r
927 taskEXIT_CRITICAL();
\r
932 #endif /* INCLUDE_uxTaskPriorityGet */
\r
933 /*-----------------------------------------------------------*/
\r
935 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
937 void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
\r
940 unsigned portBASE_TYPE uxCurrentPriority, uxPriorityUsedOnEntry;
\r
941 portBASE_TYPE xYieldRequired = pdFALSE;
\r
943 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
945 /* Ensure the new priority is valid. */
\r
946 if( uxNewPriority >= configMAX_PRIORITIES )
\r
948 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
951 taskENTER_CRITICAL();
\r
953 if( xTask == ( xTaskHandle ) pxCurrentTCB )
\r
958 /* If null is passed in here then we are changing the
\r
959 priority of the calling function. */
\r
960 pxTCB = prvGetTCBFromHandle( xTask );
\r
962 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
964 #if ( configUSE_MUTEXES == 1 )
\r
966 uxCurrentPriority = pxTCB->uxBasePriority;
\r
970 uxCurrentPriority = pxTCB->uxPriority;
\r
974 if( uxCurrentPriority != uxNewPriority )
\r
976 /* The priority change may have readied a task of higher
\r
977 priority than the calling task. */
\r
978 if( uxNewPriority > uxCurrentPriority )
\r
980 if( xTask != NULL )
\r
982 /* The priority of another task is being raised. If we
\r
983 were raising the priority of the currently running task
\r
984 there would be no need to switch as it must have already
\r
985 been the highest priority task. */
\r
986 xYieldRequired = pdTRUE;
\r
989 else if( xTask == NULL )
\r
991 /* Setting our own priority down means there may now be another
\r
992 task of higher priority that is ready to execute. */
\r
993 xYieldRequired = pdTRUE;
\r
996 /* Remember the ready list the task might be referenced from
\r
997 before its uxPriority member is changed so the
\r
998 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
999 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
1001 #if ( configUSE_MUTEXES == 1 )
\r
1003 /* Only change the priority being used if the task is not
\r
1004 currently using an inherited priority. */
\r
1005 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
1007 pxTCB->uxPriority = uxNewPriority;
\r
1010 /* The base priority gets set whatever. */
\r
1011 pxTCB->uxBasePriority = uxNewPriority;
\r
1015 pxTCB->uxPriority = uxNewPriority;
\r
1019 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
1021 /* If the task is in the blocked or suspended list we need do
\r
1022 nothing more than change it's priority variable. However, if
\r
1023 the task is in a ready list it needs to be removed and placed
\r
1024 in the queue appropriate to its new priority. */
\r
1025 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
1027 /* The task is currently in its ready list - remove before adding
\r
1028 it to it's new ready list. As we are in a critical section we
\r
1029 can do this even if the scheduler is suspended. */
\r
1030 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1032 taskRESET_READY_PRIORITY( uxPriorityUsedOnEntry );
\r
1034 prvAddTaskToReadyQueue( pxTCB );
\r
1037 if( xYieldRequired == pdTRUE )
\r
1039 portYIELD_WITHIN_API();
\r
1042 /* Remove compiler warning about unused variables when the port
\r
1043 optimised task selection is not being used. */
\r
1044 ( void ) uxPriorityUsedOnEntry;
\r
1047 taskEXIT_CRITICAL();
\r
1050 #endif /* INCLUDE_vTaskPrioritySet */
\r
1051 /*-----------------------------------------------------------*/
\r
1053 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1055 void vTaskSuspend( xTaskHandle xTaskToSuspend )
\r
1059 taskENTER_CRITICAL();
\r
1061 /* Ensure a yield is performed if the current task is being
\r
1063 if( xTaskToSuspend == ( xTaskHandle ) pxCurrentTCB )
\r
1065 xTaskToSuspend = NULL;
\r
1068 /* If null is passed in here then we are suspending ourselves. */
\r
1069 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1071 traceTASK_SUSPEND( pxTCB );
\r
1073 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
1074 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1076 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1079 /* Is the task waiting on an event also? */
\r
1080 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
1082 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1085 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1087 taskEXIT_CRITICAL();
\r
1089 if( ( void * ) xTaskToSuspend == NULL )
\r
1091 if( xSchedulerRunning != pdFALSE )
\r
1093 /* We have just suspended the current task. */
\r
1094 portYIELD_WITHIN_API();
\r
1098 /* The scheduler is not running, but the task that was pointed
\r
1099 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1100 must be adjusted to point to a different task. */
\r
1101 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1103 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1104 NULL so when the next task is created pxCurrentTCB will
\r
1105 be set to point to it no matter what its relative priority
\r
1107 pxCurrentTCB = NULL;
\r
1111 vTaskSwitchContext();
\r
1117 #endif /* INCLUDE_vTaskSuspend */
\r
1118 /*-----------------------------------------------------------*/
\r
1120 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1122 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
1124 portBASE_TYPE xReturn = pdFALSE;
\r
1125 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1127 /* It does not make sense to check if the calling task is suspended. */
\r
1128 configASSERT( xTask );
\r
1130 /* Is the task we are attempting to resume actually in the
\r
1131 suspended list? */
\r
1132 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1134 /* Has the task already been resumed from within an ISR? */
\r
1135 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
1137 /* Is it in the suspended list because it is in the
\r
1138 Suspended state? It is possible to be in the suspended
\r
1139 list because it is blocked on a task with no timeout
\r
1141 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
1151 #endif /* INCLUDE_vTaskSuspend */
\r
1152 /*-----------------------------------------------------------*/
\r
1154 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1156 void vTaskResume( xTaskHandle xTaskToResume )
\r
1160 /* It does not make sense to resume the calling task. */
\r
1161 configASSERT( xTaskToResume );
\r
1163 /* Remove the task from whichever list it is currently in, and place
\r
1164 it in the ready list. */
\r
1165 pxTCB = ( tskTCB * ) xTaskToResume;
\r
1167 /* The parameter cannot be NULL as it is impossible to resume the
\r
1168 currently executing task. */
\r
1169 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1171 taskENTER_CRITICAL();
\r
1173 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1175 traceTASK_RESUME( pxTCB );
\r
1177 /* As we are in a critical section we can access the ready
\r
1178 lists even if the scheduler is suspended. */
\r
1179 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1180 prvAddTaskToReadyQueue( pxTCB );
\r
1182 /* We may have just resumed a higher priority task. */
\r
1183 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1185 /* This yield may not cause the task just resumed to run, but
\r
1186 will leave the lists in the correct state for the next yield. */
\r
1187 portYIELD_WITHIN_API();
\r
1191 taskEXIT_CRITICAL();
\r
1195 #endif /* INCLUDE_vTaskSuspend */
\r
1197 /*-----------------------------------------------------------*/
\r
1199 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1201 portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
\r
1203 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1205 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1207 configASSERT( xTaskToResume );
\r
1209 pxTCB = ( tskTCB * ) xTaskToResume;
\r
1211 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1213 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1215 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1217 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1219 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1220 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1221 prvAddTaskToReadyQueue( pxTCB );
\r
1225 /* We cannot access the delayed or ready lists, so will hold this
\r
1226 task pending until the scheduler is resumed, at which point a
\r
1227 yield will be performed if necessary. */
\r
1228 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1232 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1234 return xYieldRequired;
\r
1237 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1238 /*-----------------------------------------------------------*/
\r
1240 void vTaskStartScheduler( void )
\r
1242 portBASE_TYPE xReturn;
\r
1244 /* Add the idle task at the lowest priority. */
\r
1245 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1247 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1248 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1249 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );
\r
1253 /* Create the idle task without storing its handle. */
\r
1254 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
\r
1256 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1258 #if ( configUSE_TIMERS == 1 )
\r
1260 if( xReturn == pdPASS )
\r
1262 xReturn = xTimerCreateTimerTask();
\r
1265 #endif /* configUSE_TIMERS */
\r
1267 if( xReturn == pdPASS )
\r
1269 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1270 before or during the call to xPortStartScheduler(). The stacks of
\r
1271 the created tasks contain a status word with interrupts switched on
\r
1272 so interrupts will automatically get re-enabled when the first task
\r
1275 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1276 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1277 portDISABLE_INTERRUPTS();
\r
1279 xSchedulerRunning = pdTRUE;
\r
1280 xTickCount = ( portTickType ) 0U;
\r
1282 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1283 macro must be defined to configure the timer/counter used to generate
\r
1284 the run time counter time base. */
\r
1285 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1287 /* Setting up the timer tick is hardware specific and thus in the
\r
1288 portable interface. */
\r
1289 if( xPortStartScheduler() != pdFALSE )
\r
1291 /* Should not reach here as if the scheduler is running the
\r
1292 function will not return. */
\r
1296 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1301 /* This line will only be reached if the kernel could not be started,
\r
1302 because there was not enough FreeRTOS heap to create the idle task
\r
1303 or the timer task. */
\r
1304 configASSERT( xReturn );
\r
1307 /*-----------------------------------------------------------*/
\r
1309 void vTaskEndScheduler( void )
\r
1311 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1312 routine so the original ISRs can be restored if necessary. The port
\r
1313 layer must ensure interrupts enable bit is left in the correct state. */
\r
1314 portDISABLE_INTERRUPTS();
\r
1315 xSchedulerRunning = pdFALSE;
\r
1316 vPortEndScheduler();
\r
1318 /*----------------------------------------------------------*/
\r
1320 void vTaskSuspendAll( void )
\r
1322 /* A critical section is not required as the variable is of type
\r
1324 ++uxSchedulerSuspended;
\r
1326 /*----------------------------------------------------------*/
\r
1328 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1330 static portTickType prvGetExpectedIdleTime( void )
\r
1332 portTickType xReturn;
\r
1334 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1338 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1340 /* There are other idle priority tasks in the ready state. If
\r
1341 time slicing is used then the very next tick interrupt must be
\r
1347 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1353 #endif /* configUSE_TICKLESS_IDLE */
\r
1354 /*----------------------------------------------------------*/
\r
1356 signed portBASE_TYPE xTaskResumeAll( void )
\r
1358 register tskTCB *pxTCB;
\r
1359 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1361 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1362 previous call to vTaskSuspendAll(). */
\r
1363 configASSERT( uxSchedulerSuspended );
\r
1365 /* It is possible that an ISR caused a task to be removed from an event
\r
1366 list while the scheduler was suspended. If this was the case then the
\r
1367 removed task will have been added to the xPendingReadyList. Once the
\r
1368 scheduler has been resumed it is safe to move all the pending ready
\r
1369 tasks from this list into their appropriate ready list. */
\r
1370 taskENTER_CRITICAL();
\r
1372 --uxSchedulerSuspended;
\r
1374 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1376 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1378 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1380 /* Move any readied tasks from the pending list into the
\r
1381 appropriate ready list. */
\r
1382 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1384 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1385 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1386 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1387 prvAddTaskToReadyQueue( pxTCB );
\r
1389 /* If we have moved a task that has a priority higher than
\r
1390 the current task then we should yield. */
\r
1391 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1393 xYieldRequired = pdTRUE;
\r
1397 /* If any ticks occurred while the scheduler was suspended then
\r
1398 they should be processed now. This ensures the tick count does not
\r
1399 slip, and that any delayed tasks are resumed at the correct time. */
\r
1400 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1402 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1404 vTaskIncrementTick();
\r
1408 /* As we have processed some ticks it is appropriate to yield
\r
1409 to ensure the highest priority task that is ready to run is
\r
1410 the task actually running. */
\r
1411 #if configUSE_PREEMPTION == 1
\r
1413 xYieldRequired = pdTRUE;
\r
1418 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1420 xAlreadyYielded = pdTRUE;
\r
1421 xMissedYield = pdFALSE;
\r
1422 portYIELD_WITHIN_API();
\r
1427 taskEXIT_CRITICAL();
\r
1429 return xAlreadyYielded;
\r
1431 /*-----------------------------------------------------------*/
\r
1433 portTickType xTaskGetTickCount( void )
\r
1435 portTickType xTicks;
\r
1437 /* Critical section required if running on a 16 bit processor. */
\r
1438 taskENTER_CRITICAL();
\r
1440 xTicks = xTickCount;
\r
1442 taskEXIT_CRITICAL();
\r
1446 /*-----------------------------------------------------------*/
\r
1448 portTickType xTaskGetTickCountFromISR( void )
\r
1450 portTickType xReturn;
\r
1451 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1453 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1454 xReturn = xTickCount;
\r
1455 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1459 /*-----------------------------------------------------------*/
\r
1461 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1463 /* A critical section is not required because the variables are of type
\r
1465 return uxCurrentNumberOfTasks;
\r
1467 /*-----------------------------------------------------------*/
\r
1469 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1471 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1475 /* If null is passed in here then the name of the calling task is being queried. */
\r
1476 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1477 configASSERT( pxTCB );
\r
1478 return &( pxTCB->pcTaskName[ 0 ] );
\r
1481 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1482 /*-----------------------------------------------------------*/
\r
1484 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1486 void vTaskList( signed char *pcWriteBuffer )
\r
1488 unsigned portBASE_TYPE uxQueue;
\r
1490 /* This is a VERY costly function that should be used for debug only.
\r
1491 It leaves interrupts disabled for a LONG time. */
\r
1493 vTaskSuspendAll();
\r
1495 /* Run through all the lists that could potentially contain a TCB and
\r
1496 report the task name, state and stack high water mark. */
\r
1498 *pcWriteBuffer = ( signed char ) 0x00;
\r
1499 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1501 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1507 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1509 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1511 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1513 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1515 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1518 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1520 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1523 #if( INCLUDE_vTaskDelete == 1 )
\r
1525 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1527 prvListTaskWithinSingleList( pcWriteBuffer, &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1532 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1534 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1536 prvListTaskWithinSingleList( pcWriteBuffer, &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1544 #endif /* configUSE_TRACE_FACILITY */
\r
1545 /*----------------------------------------------------------*/
\r
1547 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1549 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1551 unsigned portBASE_TYPE uxQueue;
\r
1552 unsigned long ulTotalRunTimeDiv100;
\r
1554 /* This is a VERY costly function that should be used for debug only.
\r
1555 It leaves interrupts disabled for a LONG time. */
\r
1557 vTaskSuspendAll();
\r
1559 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1560 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1562 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1565 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1566 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1567 ulTotalRunTimeDiv100 = ulTotalRunTime / 100UL;
\r
1569 /* Run through all the lists that could potentially contain a TCB,
\r
1570 generating a table of run timer percentages in the provided
\r
1573 *pcWriteBuffer = ( signed char ) 0x00;
\r
1574 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1576 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1582 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1584 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTimeDiv100 );
\r
1586 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1588 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1590 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTimeDiv100 );
\r
1593 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1595 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTimeDiv100 );
\r
1598 #if ( INCLUDE_vTaskDelete == 1 )
\r
1600 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1602 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTimeDiv100 );
\r
1607 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1609 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1611 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTimeDiv100 );
\r
1619 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1620 /*----------------------------------------------------------*/
\r
1622 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1624 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1626 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1627 started, then xIdleTaskHandle will be NULL. */
\r
1628 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1629 return xIdleTaskHandle;
\r
1632 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1633 /*----------------------------------------------------------*/
\r
1635 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1636 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1637 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1639 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1641 void vTaskStepTick( portTickType xTicksToJump )
\r
1643 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1644 xTickCount += xTicksToJump;
\r
1647 #endif /* configUSE_TICKLESS_IDLE */
\r
1648 /*----------------------------------------------------------*/
\r
1650 void vTaskIncrementTick( void )
\r
1654 /* Called by the portable layer each time a tick interrupt occurs.
\r
1655 Increments the tick then checks to see if the new tick value will cause any
\r
1656 tasks to be unblocked. */
\r
1657 traceTASK_INCREMENT_TICK( xTickCount );
\r
1658 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1661 if( xTickCount == ( portTickType ) 0U )
\r
1665 /* Tick count has overflowed so we need to swap the delay lists.
\r
1666 If there are any items in pxDelayedTaskList here then there is
\r
1668 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );
\r
1670 pxTemp = pxDelayedTaskList;
\r
1671 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1672 pxOverflowDelayedTaskList = pxTemp;
\r
1673 xNumOfOverflows++;
\r
1675 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1677 /* The new current delayed list is empty. Set
\r
1678 xNextTaskUnblockTime to the maximum possible value so it is
\r
1679 extremely unlikely that the
\r
1680 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
1681 there is an item in the delayed list. */
\r
1682 xNextTaskUnblockTime = portMAX_DELAY;
\r
1686 /* The new current delayed list is not empty, get the value of
\r
1687 the item at the head of the delayed list. This is the time at
\r
1688 which the task at the head of the delayed list should be removed
\r
1689 from the Blocked state. */
\r
1690 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1691 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1695 /* See if this tick has made a timeout expire. */
\r
1696 prvCheckDelayedTasks();
\r
1702 /* The tick hook gets called at regular intervals, even if the
\r
1703 scheduler is locked. */
\r
1704 #if ( configUSE_TICK_HOOK == 1 )
\r
1706 vApplicationTickHook();
\r
1711 #if ( configUSE_TICK_HOOK == 1 )
\r
1713 /* Guard against the tick hook being called when the missed tick
\r
1714 count is being unwound (when the scheduler is being unlocked. */
\r
1715 if( uxMissedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1717 vApplicationTickHook();
\r
1720 #endif /* configUSE_TICK_HOOK */
\r
1722 /*-----------------------------------------------------------*/
\r
1724 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1726 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1730 /* If xTask is NULL then we are setting our own task hook. */
\r
1731 if( xTask == NULL )
\r
1733 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1737 xTCB = ( tskTCB * ) xTask;
\r
1740 /* Save the hook function in the TCB. A critical section is required as
\r
1741 the value can be accessed from an interrupt. */
\r
1742 taskENTER_CRITICAL();
\r
1743 xTCB->pxTaskTag = pxHookFunction;
\r
1744 taskEXIT_CRITICAL();
\r
1747 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1748 /*-----------------------------------------------------------*/
\r
1750 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1752 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1755 pdTASK_HOOK_CODE xReturn;
\r
1757 /* If xTask is NULL then we are setting our own task hook. */
\r
1758 if( xTask == NULL )
\r
1760 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1764 xTCB = ( tskTCB * ) xTask;
\r
1767 /* Save the hook function in the TCB. A critical section is required as
\r
1768 the value can be accessed from an interrupt. */
\r
1769 taskENTER_CRITICAL();
\r
1770 xReturn = xTCB->pxTaskTag;
\r
1771 taskEXIT_CRITICAL();
\r
1776 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1777 /*-----------------------------------------------------------*/
\r
1779 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1781 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1784 portBASE_TYPE xReturn;
\r
1786 /* If xTask is NULL then we are calling our own task hook. */
\r
1787 if( xTask == NULL )
\r
1789 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1793 xTCB = ( tskTCB * ) xTask;
\r
1796 if( xTCB->pxTaskTag != NULL )
\r
1798 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1808 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1809 /*-----------------------------------------------------------*/
\r
1811 void vTaskSwitchContext( void )
\r
1813 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1815 /* The scheduler is currently suspended - do not allow a context
\r
1817 xMissedYield = pdTRUE;
\r
1821 traceTASK_SWITCHED_OUT();
\r
1823 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1825 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1826 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1828 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1831 /* Add the amount of time the task has been running to the accumulated
\r
1832 time so far. The time the task started running was stored in
\r
1833 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1834 so count values are only valid until the timer overflows. Generally
\r
1835 this will be about 1 hour assuming a 1uS timer increment. */
\r
1836 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
1837 ulTaskSwitchedInTime = ulTotalRunTime;
\r
1839 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1841 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1842 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1844 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
1846 traceTASK_SWITCHED_IN();
\r
1849 /*-----------------------------------------------------------*/
\r
1851 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1853 portTickType xTimeToWake;
\r
1855 configASSERT( pxEventList );
\r
1857 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1858 SCHEDULER SUSPENDED. */
\r
1860 /* Place the event list item of the TCB in the appropriate event list.
\r
1861 This is placed in the list in priority order so the highest priority task
\r
1862 is the first to be woken by the event. */
\r
1863 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1865 /* We must remove ourselves from the ready list before adding ourselves
\r
1866 to the blocked list as the same list item is used for both lists. We have
\r
1867 exclusive access to the ready lists as the scheduler is locked. */
\r
1868 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1870 /* The current task must be in a ready list, so there is no need to
\r
1871 check, and the port reset macro can be called directly. */
\r
1872 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1875 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1877 if( xTicksToWait == portMAX_DELAY )
\r
1879 /* Add ourselves to the suspended task list instead of a delayed task
\r
1880 list to ensure we are not woken by a timing event. We will block
\r
1882 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1886 /* Calculate the time at which the task should be woken if the event does
\r
1887 not occur. This may overflow but this doesn't matter. */
\r
1888 xTimeToWake = xTickCount + xTicksToWait;
\r
1889 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1892 #else /* INCLUDE_vTaskSuspend */
\r
1894 /* Calculate the time at which the task should be woken if the event does
\r
1895 not occur. This may overflow but this doesn't matter. */
\r
1896 xTimeToWake = xTickCount + xTicksToWait;
\r
1897 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1899 #endif /* INCLUDE_vTaskSuspend */
\r
1901 /*-----------------------------------------------------------*/
\r
1903 #if configUSE_TIMERS == 1
\r
1905 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1907 portTickType xTimeToWake;
\r
1909 configASSERT( pxEventList );
\r
1911 /* This function should not be called by application code hence the
\r
1912 'Restricted' in its name. It is not part of the public API. It is
\r
1913 designed for use by kernel code, and has special calling requirements -
\r
1914 it should be called from a critical section. */
\r
1917 /* Place the event list item of the TCB in the appropriate event list.
\r
1918 In this case it is assume that this is the only task that is going to
\r
1919 be waiting on this event list, so the faster vListInsertEnd() function
\r
1920 can be used in place of vListInsert. */
\r
1921 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1923 /* We must remove this task from the ready list before adding it to the
\r
1924 blocked list as the same list item is used for both lists. This
\r
1925 function is called form a critical section. */
\r
1926 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1928 /* The current task must be in a ready list, so there is no need to
\r
1929 check, and the port reset macro can be called directly. */
\r
1930 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1933 /* Calculate the time at which the task should be woken if the event does
\r
1934 not occur. This may overflow but this doesn't matter. */
\r
1935 xTimeToWake = xTickCount + xTicksToWait;
\r
1937 traceTASK_DELAY_UNTIL();
\r
1938 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1941 #endif /* configUSE_TIMERS */
\r
1942 /*-----------------------------------------------------------*/
\r
1944 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1946 tskTCB *pxUnblockedTCB;
\r
1947 portBASE_TYPE xReturn;
\r
1949 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1950 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1952 /* The event list is sorted in priority order, so we can remove the
\r
1953 first in the list, remove the TCB from the delayed list, and add
\r
1954 it to the ready list.
\r
1956 If an event is for a queue that is locked then this function will never
\r
1957 get called - the lock count on the queue will get modified instead. This
\r
1958 means we can always expect exclusive access to the event list here.
\r
1960 This function assumes that a check has already been made to ensure that
\r
1961 pxEventList is not empty. */
\r
1962 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1963 configASSERT( pxUnblockedTCB );
\r
1964 uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1966 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1968 uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1969 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1973 /* We cannot access the delayed or ready lists, so will hold this
\r
1974 task pending until the scheduler is resumed. */
\r
1975 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1978 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1980 /* Return true if the task removed from the event list has
\r
1981 a higher priority than the calling task. This allows
\r
1982 the calling task to know if it should force a context
\r
1988 xReturn = pdFALSE;
\r
1993 /*-----------------------------------------------------------*/
\r
1995 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1997 configASSERT( pxTimeOut );
\r
1998 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1999 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2001 /*-----------------------------------------------------------*/
\r
2003 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
2005 portBASE_TYPE xReturn;
\r
2007 configASSERT( pxTimeOut );
\r
2008 configASSERT( pxTicksToWait );
\r
2010 taskENTER_CRITICAL();
\r
2012 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2013 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2014 the maximum block time then the task should block indefinitely, and
\r
2015 therefore never time out. */
\r
2016 if( *pxTicksToWait == portMAX_DELAY )
\r
2018 xReturn = pdFALSE;
\r
2020 else /* We are not blocking indefinitely, perform the checks below. */
\r
2023 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
2025 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2026 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2027 It must have wrapped all the way around and gone past us again. This
\r
2028 passed since vTaskSetTimeout() was called. */
\r
2031 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
2033 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2034 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
2035 vTaskSetTimeOutState( pxTimeOut );
\r
2036 xReturn = pdFALSE;
\r
2043 taskEXIT_CRITICAL();
\r
2047 /*-----------------------------------------------------------*/
\r
2049 void vTaskMissedYield( void )
\r
2051 xMissedYield = pdTRUE;
\r
2053 /*-----------------------------------------------------------*/
\r
2055 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2057 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
2059 unsigned portBASE_TYPE uxReturn;
\r
2062 if( xTask != NULL )
\r
2064 pxTCB = ( tskTCB * ) xTask;
\r
2065 uxReturn = pxTCB->uxTaskNumber;
\r
2075 #endif /* configUSE_TRACE_FACILITY */
\r
2076 /*-----------------------------------------------------------*/
\r
2078 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2080 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
2084 if( xTask != NULL )
\r
2086 pxTCB = ( tskTCB * ) xTask;
\r
2087 pxTCB->uxTaskNumber = uxHandle;
\r
2091 #endif /* configUSE_TRACE_FACILITY */
\r
2094 * -----------------------------------------------------------
\r
2096 * ----------------------------------------------------------
\r
2098 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2099 * language extensions. The equivalent prototype for this function is:
\r
2101 * void prvIdleTask( void *pvParameters );
\r
2104 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2106 /* Stop warnings. */
\r
2107 ( void ) pvParameters;
\r
2111 /* See if any tasks have been deleted. */
\r
2112 prvCheckTasksWaitingTermination();
\r
2114 #if ( configUSE_PREEMPTION == 0 )
\r
2116 /* If we are not using preemption we keep forcing a task switch to
\r
2117 see if any other task has become available. If we are using
\r
2118 preemption we don't need to do this as any task becoming available
\r
2119 will automatically get the processor anyway. */
\r
2122 #endif /* configUSE_PREEMPTION */
\r
2124 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2126 /* When using preemption tasks of equal priority will be
\r
2127 timesliced. If a task that is sharing the idle priority is ready
\r
2128 to run then the idle task should yield before the end of the
\r
2131 A critical region is not required here as we are just reading from
\r
2132 the list, and an occasional incorrect value will not matter. If
\r
2133 the ready list at the idle priority contains more than one task
\r
2134 then a task other than the idle task is ready to execute. */
\r
2135 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2140 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2142 #if ( configUSE_IDLE_HOOK == 1 )
\r
2144 extern void vApplicationIdleHook( void );
\r
2146 /* Call the user defined function from within the idle task. This
\r
2147 allows the application designer to add background functionality
\r
2148 without the overhead of a separate task.
\r
2149 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2150 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2151 vApplicationIdleHook();
\r
2153 #endif /* configUSE_IDLE_HOOK */
\r
2155 /* This conditional compilation should use inequality to 0, not equality
\r
2156 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2157 user defined low power mode implementations require
\r
2158 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2159 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2161 portTickType xExpectedIdleTime;
\r
2163 /* It is not desirable to suspend then resume the scheduler on
\r
2164 each iteration of the idle task. Therefore, a preliminary
\r
2165 test of the expected idle time is performed without the
\r
2166 scheduler suspended. The result here is not necessarily
\r
2168 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2170 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2172 vTaskSuspendAll();
\r
2174 /* Now the scheduler is suspended, the expected idle
\r
2175 time can be sampled again, and this time its value can
\r
2177 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2178 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2180 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2182 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2188 #endif /* configUSE_TICKLESS_IDLE */
\r
2190 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
2191 /*-----------------------------------------------------------*/
\r
2193 #if configUSE_TICKLESS_IDLE != 0
\r
2195 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2197 eSleepModeStatus eReturn = eStandardSleep;
\r
2199 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2201 /* A task was made ready while the scheduler was suspended. */
\r
2202 eReturn = eAbortSleep;
\r
2204 else if( xMissedYield != pdFALSE )
\r
2206 /* A yield was pended while the scheduler was suspended. */
\r
2207 eReturn = eAbortSleep;
\r
2211 #if configUSE_TIMERS == 0
\r
2213 /* The idle task exists in addition to the application tasks. */
\r
2214 const unsigned portBASE_TYPE uxNonApplicationTasks = 1;
\r
2216 /* If timers are not being used and all the tasks are in the
\r
2217 suspended list (which might mean they have an infinite block
\r
2218 time rather than actually being suspended) then it is safe to
\r
2219 turn all clocks off and just wait for external interrupts. */
\r
2220 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2222 eReturn = eNoTasksWaitingTimeout;
\r
2225 #endif /* configUSE_TIMERS */
\r
2230 #endif /* configUSE_TICKLESS_IDLE */
\r
2231 /*-----------------------------------------------------------*/
\r
2233 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2235 /* Store the function name in the TCB. */
\r
2236 #if configMAX_TASK_NAME_LEN > 1
\r
2238 /* Don't bring strncpy into the build unnecessarily. */
\r
2239 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
2241 #endif /* configMAX_TASK_NAME_LEN */
\r
2242 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
\r
2244 /* This is used as an array index so must ensure it's not too large. First
\r
2245 remove the privilege bit if one is present. */
\r
2246 if( uxPriority >= configMAX_PRIORITIES )
\r
2248 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2251 pxTCB->uxPriority = uxPriority;
\r
2252 #if ( configUSE_MUTEXES == 1 )
\r
2254 pxTCB->uxBasePriority = uxPriority;
\r
2256 #endif /* configUSE_MUTEXES */
\r
2258 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2259 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2261 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2262 back to the containing TCB from a generic item in a list. */
\r
2263 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2265 /* Event lists are always in priority order. */
\r
2266 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
2267 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2269 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2271 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2273 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2275 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2277 pxTCB->pxTaskTag = NULL;
\r
2279 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2281 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2283 pxTCB->ulRunTimeCounter = 0UL;
\r
2285 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2287 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2289 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2291 #else /* portUSING_MPU_WRAPPERS */
\r
2293 ( void ) xRegions;
\r
2294 ( void ) usStackDepth;
\r
2296 #endif /* portUSING_MPU_WRAPPERS */
\r
2298 /*-----------------------------------------------------------*/
\r
2300 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2302 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2306 if( xTaskToModify == pxCurrentTCB )
\r
2308 xTaskToModify = NULL;
\r
2311 /* If null is passed in here then we are deleting ourselves. */
\r
2312 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2314 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2317 #endif /* portUSING_MPU_WRAPPERS */
\r
2318 /*-----------------------------------------------------------*/
\r
2320 static void prvInitialiseTaskLists( void )
\r
2322 unsigned portBASE_TYPE uxPriority;
\r
2324 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2326 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2329 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2330 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2331 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2333 #if ( INCLUDE_vTaskDelete == 1 )
\r
2335 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2337 #endif /* INCLUDE_vTaskDelete */
\r
2339 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2341 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2343 #endif /* INCLUDE_vTaskSuspend */
\r
2345 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2347 pxDelayedTaskList = &xDelayedTaskList1;
\r
2348 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2350 /*-----------------------------------------------------------*/
\r
2352 static void prvCheckTasksWaitingTermination( void )
\r
2354 #if ( INCLUDE_vTaskDelete == 1 )
\r
2356 portBASE_TYPE xListIsEmpty;
\r
2358 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2359 too often in the idle task. */
\r
2360 while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2362 vTaskSuspendAll();
\r
2363 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2366 if( xListIsEmpty == pdFALSE )
\r
2370 taskENTER_CRITICAL();
\r
2372 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2373 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2374 --uxCurrentNumberOfTasks;
\r
2377 taskEXIT_CRITICAL();
\r
2379 prvDeleteTCB( pxTCB );
\r
2383 #endif /* vTaskDelete */
\r
2385 /*-----------------------------------------------------------*/
\r
2387 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2389 /* The list item will be inserted in wake time order. */
\r
2390 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2392 if( xTimeToWake < xTickCount )
\r
2394 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2395 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2399 /* The wake time has not overflowed, so we can use the current block list. */
\r
2400 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2402 /* If the task entering the blocked state was placed at the head of the
\r
2403 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2405 if( xTimeToWake < xNextTaskUnblockTime )
\r
2407 xNextTaskUnblockTime = xTimeToWake;
\r
2411 /*-----------------------------------------------------------*/
\r
2413 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2417 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2418 the implementation of the port malloc function. */
\r
2419 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2421 if( pxNewTCB != NULL )
\r
2423 /* Allocate space for the stack used by the task being created.
\r
2424 The base of the stack memory stored in the TCB so the task can
\r
2425 be deleted later if required. */
\r
2426 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2428 if( pxNewTCB->pxStack == NULL )
\r
2430 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2431 vPortFree( pxNewTCB );
\r
2436 /* Just to help debugging. */
\r
2437 memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2443 /*-----------------------------------------------------------*/
\r
2445 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2447 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2449 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2450 unsigned short usStackRemaining;
\r
2451 PRIVILEGED_DATA static char pcStatusString[ configMAX_TASK_NAME_LEN + 30 ];
\r
2453 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2454 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2457 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2458 #if ( portSTACK_GROWTH > 0 )
\r
2460 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2464 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2468 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
2469 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2471 } while( pxNextTCB != pxFirstTCB );
\r
2474 #endif /* configUSE_TRACE_FACILITY */
\r
2475 /*-----------------------------------------------------------*/
\r
2477 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2479 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTimeDiv100 )
\r
2481 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2482 unsigned long ulStatsAsPercentage;
\r
2484 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2485 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2488 /* Get next TCB in from the list. */
\r
2489 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2491 /* Divide by zero check. */
\r
2492 if( ulTotalRunTimeDiv100 > 0UL )
\r
2494 /* Has the task run at all? */
\r
2495 if( pxNextTCB->ulRunTimeCounter == 0UL )
\r
2497 /* The task has used no CPU time at all. */
\r
2498 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2502 /* What percentage of the total run time has the task used?
\r
2503 This will always be rounded down to the nearest integer.
\r
2504 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
2505 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTimeDiv100;
\r
2507 if( ulStatsAsPercentage > 0UL )
\r
2509 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2511 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2515 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2516 printf() library can be used. */
\r
2517 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2523 /* If the percentage is zero here then the task has
\r
2524 consumed less than 1% of the total run time. */
\r
2525 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2527 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2531 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2532 printf() library can be used. */
\r
2533 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2539 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2542 } while( pxNextTCB != pxFirstTCB );
\r
2545 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2546 /*-----------------------------------------------------------*/
\r
2548 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2550 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2552 register unsigned short usCount = 0U;
\r
2554 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2556 pucStackByte -= portSTACK_GROWTH;
\r
2560 usCount /= sizeof( portSTACK_TYPE );
\r
2565 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
2566 /*-----------------------------------------------------------*/
\r
2568 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2570 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2573 unsigned char *pcEndOfStack;
\r
2574 unsigned portBASE_TYPE uxReturn;
\r
2576 pxTCB = prvGetTCBFromHandle( xTask );
\r
2578 #if portSTACK_GROWTH < 0
\r
2580 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2584 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2588 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2593 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
2594 /*-----------------------------------------------------------*/
\r
2596 #if ( INCLUDE_vTaskDelete == 1 )
\r
2598 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2600 /* This call is required specifically for the TriCore port. It must be
\r
2601 above the vPortFree() calls. The call is also used by ports/demos that
\r
2602 want to allocate and clean RAM statically. */
\r
2603 portCLEAN_UP_TCB( pxTCB );
\r
2605 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2606 the task to free any memory allocated at the application level. */
\r
2607 vPortFreeAligned( pxTCB->pxStack );
\r
2608 vPortFree( pxTCB );
\r
2611 #endif /* INCLUDE_vTaskDelete */
\r
2612 /*-----------------------------------------------------------*/
\r
2614 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2616 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2618 xTaskHandle xReturn;
\r
2620 /* A critical section is not required as this is not called from
\r
2621 an interrupt and the current TCB will always be the same for any
\r
2622 individual execution thread. */
\r
2623 xReturn = pxCurrentTCB;
\r
2628 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
2629 /*-----------------------------------------------------------*/
\r
2631 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2633 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2635 portBASE_TYPE xReturn;
\r
2637 if( xSchedulerRunning == pdFALSE )
\r
2639 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2643 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2645 xReturn = taskSCHEDULER_RUNNING;
\r
2649 xReturn = taskSCHEDULER_SUSPENDED;
\r
2656 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
2657 /*-----------------------------------------------------------*/
\r
2659 #if ( configUSE_MUTEXES == 1 )
\r
2661 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2663 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2665 /* If the mutex was given back by an interrupt while the queue was
\r
2666 locked then the mutex holder might now be NULL. */
\r
2667 if( pxMutexHolder != NULL )
\r
2669 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2671 /* Adjust the mutex holder state to account for its new priority. */
\r
2672 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2674 /* If the task being modified is in the ready state it will need to
\r
2675 be moved into a new list. */
\r
2676 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2678 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2680 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2683 /* Inherit the priority before being moved into the new list. */
\r
2684 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2685 prvAddTaskToReadyQueue( pxTCB );
\r
2689 /* Just inherit the priority. */
\r
2690 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2693 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2698 #endif /* configUSE_MUTEXES */
\r
2699 /*-----------------------------------------------------------*/
\r
2701 #if ( configUSE_MUTEXES == 1 )
\r
2703 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2705 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2707 if( pxMutexHolder != NULL )
\r
2709 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2711 /* We must be the running task to be able to give the mutex back.
\r
2712 Remove ourselves from the ready list we currently appear in. */
\r
2713 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2715 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2718 /* Disinherit the priority before adding the task into the new
\r
2720 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2721 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2722 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2723 prvAddTaskToReadyQueue( pxTCB );
\r
2728 #endif /* configUSE_MUTEXES */
\r
2729 /*-----------------------------------------------------------*/
\r
2731 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2733 void vTaskEnterCritical( void )
\r
2735 portDISABLE_INTERRUPTS();
\r
2737 if( xSchedulerRunning != pdFALSE )
\r
2739 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2743 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2744 /*-----------------------------------------------------------*/
\r
2746 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2748 void vTaskExitCritical( void )
\r
2750 if( xSchedulerRunning != pdFALSE )
\r
2752 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2754 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2756 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2758 portENABLE_INTERRUPTS();
\r
2764 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2765 /*-----------------------------------------------------------*/
\r
projects / freertos / blob