2 FreeRTOS V7.4.2 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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75 /* Standard includes. */
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80 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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81 all the API functions to use the MPU wrappers. That should only be done when
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82 task.h is included from an application file. */
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83 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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85 /* FreeRTOS includes. */
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86 #include "FreeRTOS.h"
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89 #include "StackMacros.h"
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91 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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93 /* Sanity check the configuration. */
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94 #if configUSE_TICKLESS_IDLE != 0
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95 #if INCLUDE_vTaskSuspend != 1
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96 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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97 #endif /* INCLUDE_vTaskSuspend */
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98 #endif /* configUSE_TICKLESS_IDLE */
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101 * Defines the size, in words, of the stack allocated to the idle task.
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103 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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106 * Task control block. A task control block (TCB) is allocated for each task,
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107 * and stores task state information, including a pointer to the task's context
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108 * (the task's run time environment, including register values)
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110 typedef struct tskTaskControlBlock
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112 volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
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114 #if ( portUSING_MPU_WRAPPERS == 1 )
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115 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
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118 xListItem xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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119 xListItem xEventListItem; /*< Used to reference a task from an event list. */
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120 unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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121 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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122 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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124 #if ( portSTACK_GROWTH > 0 )
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125 portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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128 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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129 unsigned portBASE_TYPE uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
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132 #if ( configUSE_TRACE_FACILITY == 1 )
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133 unsigned portBASE_TYPE uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
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134 unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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137 #if ( configUSE_MUTEXES == 1 )
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138 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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141 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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142 pdTASK_HOOK_CODE pxTaskTag;
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145 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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146 unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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149 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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150 /* Allocate a Newlib reent structure that is specific to this task.
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151 Note Newlib support has been included by popular demand, but is not
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152 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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153 responsible for resulting newlib operation. User must be familiar with
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154 newlib and must provide system-wide implementations of the necessary
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155 stubs. Be warned that (at the time of writing) the current newlib design
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156 implements a system-wide malloc() that must be provided with locks. */
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157 struct _reent xNewLib_reent;
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164 * Some kernel aware debuggers require the data the debugger needs access to to
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165 * be global, rather than file scope.
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167 #ifdef portREMOVE_STATIC_QUALIFIER
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172 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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174 /* Lists for ready and blocked tasks. --------------------*/
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175 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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176 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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177 PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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178 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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179 PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
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180 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
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182 #if ( INCLUDE_vTaskDelete == 1 )
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184 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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185 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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189 #if ( INCLUDE_vTaskSuspend == 1 )
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191 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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195 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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197 PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
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201 /* File private variables. --------------------------------*/
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202 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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203 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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204 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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205 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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206 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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207 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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208 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxPendedTicks = ( unsigned portBASE_TYPE ) 0U;
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209 PRIVILEGED_DATA static volatile portBASE_TYPE xYieldPending = ( portBASE_TYPE ) pdFALSE;
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210 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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211 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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212 PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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214 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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216 PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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217 PRIVILEGED_DATA static unsigned long ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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221 /* Debugging and trace facilities private variables and macros. ------------*/
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224 * The value used to fill the stack of a task when the task is created. This
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225 * is used purely for checking the high water mark for tasks.
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227 #define tskSTACK_FILL_BYTE ( 0xa5U )
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230 * Macros used by vListTask to indicate which state a task is in.
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232 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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233 #define tskREADY_CHAR ( ( signed char ) 'R' )
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234 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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235 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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237 /*-----------------------------------------------------------*/
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239 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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241 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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242 performed in a generic way that is not optimised to any particular
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243 microcontroller architecture. */
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245 /* uxTopReadyPriority holds the priority of the highest priority ready
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247 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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249 if( ( uxPriority ) > uxTopReadyPriority ) \
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251 uxTopReadyPriority = ( uxPriority ); \
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253 } /* taskRECORD_READY_PRIORITY */
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255 /*-----------------------------------------------------------*/
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257 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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259 /* Find the highest priority queue that contains ready tasks. */ \
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260 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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262 configASSERT( uxTopReadyPriority ); \
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263 --uxTopReadyPriority; \
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266 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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267 the same priority get an equal share of the processor time. */ \
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268 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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269 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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271 /*-----------------------------------------------------------*/
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273 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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274 they are only required when a port optimised method of task selection is
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276 #define taskRESET_READY_PRIORITY( uxPriority )
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277 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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279 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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281 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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282 performed in a way that is tailored to the particular microcontroller
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283 architecture being used. */
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285 /* A port optimised version is provided. Call the port defined macros. */
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286 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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288 /*-----------------------------------------------------------*/
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290 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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292 unsigned portBASE_TYPE uxTopPriority; \
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294 /* Find the highest priority queue that contains ready tasks. */ \
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295 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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296 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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297 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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298 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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300 /*-----------------------------------------------------------*/
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302 /* A port optimised version is provided, call it only if the TCB being reset
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303 is being referenced from a ready list. If it is referenced from a delayed
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304 or suspended list then it won't be in a ready list. */
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305 #define taskRESET_READY_PRIORITY( uxPriority ) \
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307 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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309 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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313 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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315 /*-----------------------------------------------------------*/
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317 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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318 count overflows. */
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319 #define taskSWITCH_DELAYED_LISTS() \
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323 /* The delayed tasks list should be empty when the lists are switched. */ \
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324 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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326 pxTemp = pxDelayedTaskList; \
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327 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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328 pxOverflowDelayedTaskList = pxTemp; \
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329 xNumOfOverflows++; \
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331 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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333 /* The new current delayed list is empty. Set \
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334 xNextTaskUnblockTime to the maximum possible value so it is \
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335 extremely unlikely that the \
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336 if( xTickCount >= xNextTaskUnblockTime ) test will pass until \
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337 there is an item in the delayed list. */ \
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338 xNextTaskUnblockTime = portMAX_DELAY; \
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342 /* The new current delayed list is not empty, get the value of \
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343 the item at the head of the delayed list. This is the time at \
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344 which the task at the head of the delayed list should be removed \
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345 from the Blocked state. */ \
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346 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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347 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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351 /*-----------------------------------------------------------*/
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354 * Place the task represented by pxTCB into the appropriate ready list for
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355 * the task. It is inserted at the end of the list.
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357 #define prvAddTaskToReadyList( pxTCB ) \
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358 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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359 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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360 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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361 /*-----------------------------------------------------------*/
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364 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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365 * where NULL is used to indicate that the handle of the currently executing
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366 * task should be used in place of the parameter. This macro simply checks to
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367 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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369 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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371 /* Callback function prototypes. --------------------------*/
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372 extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
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373 extern void vApplicationTickHook( void );
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375 /* File private functions. --------------------------------*/
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378 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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379 * into the TCB structure.
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381 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
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384 * Utility to ready all the lists used by the scheduler. This is called
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385 * automatically upon the creation of the first task.
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387 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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390 * The idle task, which as all tasks is implemented as a never ending loop.
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391 * The idle task is automatically created and added to the ready lists upon
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392 * creation of the first user task.
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394 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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395 * language extensions. The equivalent prototype for this function is:
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397 * void prvIdleTask( void *pvParameters );
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400 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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403 * Utility to free all memory allocated by the scheduler to hold a TCB,
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404 * including the stack pointed to by the TCB.
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406 * This does not free memory allocated by the task itself (i.e. memory
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407 * allocated by calls to pvPortMalloc from within the tasks application code).
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409 #if ( INCLUDE_vTaskDelete == 1 )
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411 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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416 * Used only by the idle task. This checks to see if anything has been placed
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417 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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418 * and its TCB deleted.
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420 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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423 * The currently executing task is entering the Blocked state. Add the task to
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424 * either the current or the overflow delayed task list.
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426 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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429 * Allocates memory from the heap for a TCB and associated stack. Checks the
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430 * allocation was successful.
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432 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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435 * Fills an xTaskStatusType structure with information on each task that is
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436 * referenced from the pxList list (which may be a ready list, a delayed list,
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437 * a suspended list, etc.).
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439 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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440 * NORMAL APPLICATION CODE.
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442 #if ( configUSE_TRACE_FACILITY == 1 )
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444 static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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449 * When a task is created, the stack of the task is filled with a known value.
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450 * This function determines the 'high water mark' of the task stack by
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451 * determining how much of the stack remains at the original preset value.
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453 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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455 static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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460 * Return the amount of time, in ticks, that will pass before the kernel will
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461 * next move a task from the Blocked state to the Running state.
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463 * This conditional compilation should use inequality to 0, not equality to 1.
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464 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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465 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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466 * set to a value other than 1.
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468 #if ( configUSE_TICKLESS_IDLE != 0 )
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470 static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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476 signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
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478 signed portBASE_TYPE xReturn;
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481 configASSERT( pxTaskCode );
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482 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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484 /* Allocate the memory required by the TCB and stack for the new task,
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485 checking that the allocation was successful. */
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486 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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488 if( pxNewTCB != NULL )
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490 portSTACK_TYPE *pxTopOfStack;
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492 #if( portUSING_MPU_WRAPPERS == 1 )
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493 /* Should the task be created in privileged mode? */
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494 portBASE_TYPE xRunPrivileged;
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495 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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497 xRunPrivileged = pdTRUE;
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501 xRunPrivileged = pdFALSE;
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503 uxPriority &= ~portPRIVILEGE_BIT;
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504 #endif /* portUSING_MPU_WRAPPERS == 1 */
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506 /* Calculate the top of stack address. This depends on whether the
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507 stack grows from high memory to low (as per the 80x86) or visa versa.
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508 portSTACK_GROWTH is used to make the result positive or negative as
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509 required by the port. */
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510 #if( portSTACK_GROWTH < 0 )
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512 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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513 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
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515 /* Check the alignment of the calculated top of stack is correct. */
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516 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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518 #else /* portSTACK_GROWTH */
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520 pxTopOfStack = pxNewTCB->pxStack;
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522 /* Check the alignment of the stack buffer is correct. */
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523 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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525 /* If we want to use stack checking on architectures that use
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526 a positive stack growth direction then we also need to store the
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527 other extreme of the stack space. */
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528 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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530 #endif /* portSTACK_GROWTH */
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532 /* Setup the newly allocated TCB with the initial state of the task. */
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533 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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535 /* Initialize the TCB stack to look as if the task was already running,
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536 but had been interrupted by the scheduler. The return address is set
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537 to the start of the task function. Once the stack has been initialised
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538 the top of stack variable is updated. */
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539 #if( portUSING_MPU_WRAPPERS == 1 )
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541 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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543 #else /* portUSING_MPU_WRAPPERS */
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545 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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547 #endif /* portUSING_MPU_WRAPPERS */
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549 if( ( void * ) pxCreatedTask != NULL )
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551 /* Pass the TCB out - in an anonymous way. The calling function/
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552 task can use this as a handle to delete the task later if
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554 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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557 /* Ensure interrupts don't access the task lists while they are being
\r
559 taskENTER_CRITICAL();
\r
561 uxCurrentNumberOfTasks++;
\r
562 if( pxCurrentTCB == NULL )
\r
564 /* There are no other tasks, or all the other tasks are in
\r
565 the suspended state - make this the current task. */
\r
566 pxCurrentTCB = pxNewTCB;
\r
568 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
570 /* This is the first task to be created so do the preliminary
\r
571 initialisation required. We will not recover if this call
\r
572 fails, but we will report the failure. */
\r
573 prvInitialiseTaskLists();
\r
578 /* If the scheduler is not already running, make this task the
\r
579 current task if it is the highest priority task to be created
\r
581 if( xSchedulerRunning == pdFALSE )
\r
583 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
585 pxCurrentTCB = pxNewTCB;
\r
590 /* Remember the top priority to make context switching faster. Use
\r
591 the priority in pxNewTCB as this has been capped to a valid value. */
\r
592 if( pxNewTCB->uxPriority > uxTopUsedPriority )
\r
594 uxTopUsedPriority = pxNewTCB->uxPriority;
\r
599 #if ( configUSE_TRACE_FACILITY == 1 )
\r
601 /* Add a counter into the TCB for tracing only. */
\r
602 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
604 #endif /* configUSE_TRACE_FACILITY */
\r
605 traceTASK_CREATE( pxNewTCB );
\r
607 prvAddTaskToReadyList( pxNewTCB );
\r
610 portSETUP_TCB( pxNewTCB );
\r
612 taskEXIT_CRITICAL();
\r
616 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
617 traceTASK_CREATE_FAILED();
\r
620 if( xReturn == pdPASS )
\r
622 if( xSchedulerRunning != pdFALSE )
\r
624 /* If the created task is of a higher priority than the current task
\r
625 then it should run now. */
\r
626 if( pxCurrentTCB->uxPriority < uxPriority )
\r
628 portYIELD_WITHIN_API();
\r
635 /*-----------------------------------------------------------*/
\r
637 #if ( INCLUDE_vTaskDelete == 1 )
\r
639 void vTaskDelete( xTaskHandle xTaskToDelete )
\r
643 taskENTER_CRITICAL();
\r
645 /* Ensure a yield is performed if the current task is being
\r
647 if( xTaskToDelete == pxCurrentTCB )
\r
649 xTaskToDelete = NULL;
\r
652 /* If null is passed in here then we are deleting ourselves. */
\r
653 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
655 /* Remove task from the ready list and place in the termination list.
\r
656 This will stop the task from be scheduled. The idle task will check
\r
657 the termination list and free up any memory allocated by the
\r
658 scheduler for the TCB and stack. */
\r
659 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
661 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
664 /* Is the task waiting on an event also? */
\r
665 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
667 uxListRemove( &( pxTCB->xEventListItem ) );
\r
670 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
672 /* Increment the ucTasksDeleted variable so the idle task knows
\r
673 there is a task that has been deleted and that it should therefore
\r
674 check the xTasksWaitingTermination list. */
\r
677 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
678 can detect that the task lists need re-generating. */
\r
681 traceTASK_DELETE( pxTCB );
\r
683 taskEXIT_CRITICAL();
\r
685 /* Force a reschedule if we have just deleted the current task. */
\r
686 if( xSchedulerRunning != pdFALSE )
\r
688 if( ( void * ) xTaskToDelete == NULL )
\r
690 portYIELD_WITHIN_API();
\r
695 #endif /* INCLUDE_vTaskDelete */
\r
696 /*-----------------------------------------------------------*/
\r
698 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
700 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
702 portTickType xTimeToWake;
\r
703 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
705 configASSERT( pxPreviousWakeTime );
\r
706 configASSERT( ( xTimeIncrement > 0U ) );
\r
710 /* Generate the tick time at which the task wants to wake. */
\r
711 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
713 if( xTickCount < *pxPreviousWakeTime )
\r
715 /* The tick count has overflowed since this function was
\r
716 lasted called. In this case the only time we should ever
\r
717 actually delay is if the wake time has also overflowed,
\r
718 and the wake time is greater than the tick time. When this
\r
719 is the case it is as if neither time had overflowed. */
\r
720 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
722 xShouldDelay = pdTRUE;
\r
727 /* The tick time has not overflowed. In this case we will
\r
728 delay if either the wake time has overflowed, and/or the
\r
729 tick time is less than the wake time. */
\r
730 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
732 xShouldDelay = pdTRUE;
\r
736 /* Update the wake time ready for the next call. */
\r
737 *pxPreviousWakeTime = xTimeToWake;
\r
739 if( xShouldDelay != pdFALSE )
\r
741 traceTASK_DELAY_UNTIL();
\r
743 /* We must remove ourselves from the ready list before adding
\r
744 ourselves to the blocked list as the same list item is used for
\r
746 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
748 /* The current task must be in a ready list, so there is
\r
749 no need to check, and the port reset macro can be called
\r
751 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
754 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
757 xAlreadyYielded = xTaskResumeAll();
\r
759 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
760 have put ourselves to sleep. */
\r
761 if( xAlreadyYielded == pdFALSE )
\r
763 portYIELD_WITHIN_API();
\r
767 #endif /* INCLUDE_vTaskDelayUntil */
\r
768 /*-----------------------------------------------------------*/
\r
770 #if ( INCLUDE_vTaskDelay == 1 )
\r
772 void vTaskDelay( portTickType xTicksToDelay )
\r
774 portTickType xTimeToWake;
\r
775 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
777 /* A delay time of zero just forces a reschedule. */
\r
778 if( xTicksToDelay > ( portTickType ) 0U )
\r
784 /* A task that is removed from the event list while the
\r
785 scheduler is suspended will not get placed in the ready
\r
786 list or removed from the blocked list until the scheduler
\r
789 This task cannot be in an event list as it is the currently
\r
792 /* Calculate the time to wake - this may overflow but this is
\r
794 xTimeToWake = xTickCount + xTicksToDelay;
\r
796 /* We must remove ourselves from the ready list before adding
\r
797 ourselves to the blocked list as the same list item is used for
\r
799 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
801 /* The current task must be in a ready list, so there is
\r
802 no need to check, and the port reset macro can be called
\r
804 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
806 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
808 xAlreadyYielded = xTaskResumeAll();
\r
811 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
812 have put ourselves to sleep. */
\r
813 if( xAlreadyYielded == pdFALSE )
\r
815 portYIELD_WITHIN_API();
\r
819 #endif /* INCLUDE_vTaskDelay */
\r
820 /*-----------------------------------------------------------*/
\r
822 #if ( INCLUDE_eTaskGetState == 1 )
\r
824 eTaskState eTaskGetState( xTaskHandle xTask )
\r
826 eTaskState eReturn;
\r
827 xList *pxStateList;
\r
830 pxTCB = ( tskTCB * ) xTask;
\r
832 if( pxTCB == pxCurrentTCB )
\r
834 /* The task calling this function is querying its own state. */
\r
835 eReturn = eRunning;
\r
839 taskENTER_CRITICAL();
\r
841 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
843 taskEXIT_CRITICAL();
\r
845 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
847 /* The task being queried is referenced from one of the Blocked
\r
849 eReturn = eBlocked;
\r
852 #if ( INCLUDE_vTaskSuspend == 1 )
\r
853 else if( pxStateList == &xSuspendedTaskList )
\r
855 /* The task being queried is referenced from the suspended
\r
857 eReturn = eSuspended;
\r
861 #if ( INCLUDE_vTaskDelete == 1 )
\r
862 else if( pxStateList == &xTasksWaitingTermination )
\r
864 /* The task being queried is referenced from the deleted
\r
866 eReturn = eDeleted;
\r
872 /* If the task is not in any other state, it must be in the
\r
873 Ready (including pending ready) state. */
\r
881 #endif /* INCLUDE_eTaskGetState */
\r
882 /*-----------------------------------------------------------*/
\r
884 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
886 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
\r
889 unsigned portBASE_TYPE uxReturn;
\r
891 taskENTER_CRITICAL();
\r
893 /* If null is passed in here then we are changing the
\r
894 priority of the calling function. */
\r
895 pxTCB = prvGetTCBFromHandle( xTask );
\r
896 uxReturn = pxTCB->uxPriority;
\r
898 taskEXIT_CRITICAL();
\r
903 #endif /* INCLUDE_uxTaskPriorityGet */
\r
904 /*-----------------------------------------------------------*/
\r
906 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
908 void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
\r
911 unsigned portBASE_TYPE uxCurrentPriority, uxPriorityUsedOnEntry;
\r
912 portBASE_TYPE xYieldRequired = pdFALSE;
\r
914 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
916 /* Ensure the new priority is valid. */
\r
917 if( uxNewPriority >= configMAX_PRIORITIES )
\r
919 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
922 taskENTER_CRITICAL();
\r
924 if( xTask == ( xTaskHandle ) pxCurrentTCB )
\r
929 /* If null is passed in here then we are changing the
\r
930 priority of the calling function. */
\r
931 pxTCB = prvGetTCBFromHandle( xTask );
\r
933 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
935 #if ( configUSE_MUTEXES == 1 )
\r
937 uxCurrentPriority = pxTCB->uxBasePriority;
\r
941 uxCurrentPriority = pxTCB->uxPriority;
\r
945 if( uxCurrentPriority != uxNewPriority )
\r
947 /* The priority change may have readied a task of higher
\r
948 priority than the calling task. */
\r
949 if( uxNewPriority > uxCurrentPriority )
\r
951 if( xTask != NULL )
\r
953 /* The priority of another task is being raised. If we
\r
954 were raising the priority of the currently running task
\r
955 there would be no need to switch as it must have already
\r
956 been the highest priority task. */
\r
957 xYieldRequired = pdTRUE;
\r
960 else if( xTask == NULL )
\r
962 /* Setting our own priority down means there may now be another
\r
963 task of higher priority that is ready to execute. */
\r
964 xYieldRequired = pdTRUE;
\r
967 /* Remember the ready list the task might be referenced from
\r
968 before its uxPriority member is changed so the
\r
969 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
970 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
972 #if ( configUSE_MUTEXES == 1 )
\r
974 /* Only change the priority being used if the task is not
\r
975 currently using an inherited priority. */
\r
976 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
978 pxTCB->uxPriority = uxNewPriority;
\r
981 /* The base priority gets set whatever. */
\r
982 pxTCB->uxBasePriority = uxNewPriority;
\r
986 pxTCB->uxPriority = uxNewPriority;
\r
990 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
992 /* If the task is in the blocked or suspended list we need do
\r
993 nothing more than change it's priority variable. However, if
\r
994 the task is in a ready list it needs to be removed and placed
\r
995 in the queue appropriate to its new priority. */
\r
996 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
998 /* The task is currently in its ready list - remove before adding
\r
999 it to it's new ready list. As we are in a critical section we
\r
1000 can do this even if the scheduler is suspended. */
\r
1001 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1003 taskRESET_READY_PRIORITY( uxPriorityUsedOnEntry );
\r
1005 prvAddTaskToReadyList( pxTCB );
\r
1008 if( xYieldRequired == pdTRUE )
\r
1010 portYIELD_WITHIN_API();
\r
1013 /* Remove compiler warning about unused variables when the port
\r
1014 optimised task selection is not being used. */
\r
1015 ( void ) uxPriorityUsedOnEntry;
\r
1018 taskEXIT_CRITICAL();
\r
1021 #endif /* INCLUDE_vTaskPrioritySet */
\r
1022 /*-----------------------------------------------------------*/
\r
1024 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1026 void vTaskSuspend( xTaskHandle xTaskToSuspend )
\r
1030 taskENTER_CRITICAL();
\r
1032 /* Ensure a yield is performed if the current task is being
\r
1034 if( xTaskToSuspend == ( xTaskHandle ) pxCurrentTCB )
\r
1036 xTaskToSuspend = NULL;
\r
1039 /* If null is passed in here then we are suspending ourselves. */
\r
1040 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1042 traceTASK_SUSPEND( pxTCB );
\r
1044 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
1045 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1047 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1050 /* Is the task waiting on an event also? */
\r
1051 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
1053 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1056 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1058 taskEXIT_CRITICAL();
\r
1060 if( ( void * ) xTaskToSuspend == NULL )
\r
1062 if( xSchedulerRunning != pdFALSE )
\r
1064 /* We have just suspended the current task. */
\r
1065 portYIELD_WITHIN_API();
\r
1069 /* The scheduler is not running, but the task that was pointed
\r
1070 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1071 must be adjusted to point to a different task. */
\r
1072 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1074 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1075 NULL so when the next task is created pxCurrentTCB will
\r
1076 be set to point to it no matter what its relative priority
\r
1078 pxCurrentTCB = NULL;
\r
1082 vTaskSwitchContext();
\r
1088 #endif /* INCLUDE_vTaskSuspend */
\r
1089 /*-----------------------------------------------------------*/
\r
1091 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1093 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
1095 portBASE_TYPE xReturn = pdFALSE;
\r
1096 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1098 /* It does not make sense to check if the calling task is suspended. */
\r
1099 configASSERT( xTask );
\r
1101 /* Is the task we are attempting to resume actually in the
\r
1102 suspended list? */
\r
1103 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1105 /* Has the task already been resumed from within an ISR? */
\r
1106 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
1108 /* Is it in the suspended list because it is in the
\r
1109 Suspended state? It is possible to be in the suspended
\r
1110 list because it is blocked on a task with no timeout
\r
1112 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
1122 #endif /* INCLUDE_vTaskSuspend */
\r
1123 /*-----------------------------------------------------------*/
\r
1125 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1127 void vTaskResume( xTaskHandle xTaskToResume )
\r
1131 /* It does not make sense to resume the calling task. */
\r
1132 configASSERT( xTaskToResume );
\r
1134 /* Remove the task from whichever list it is currently in, and place
\r
1135 it in the ready list. */
\r
1136 pxTCB = ( tskTCB * ) xTaskToResume;
\r
1138 /* The parameter cannot be NULL as it is impossible to resume the
\r
1139 currently executing task. */
\r
1140 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1142 taskENTER_CRITICAL();
\r
1144 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1146 traceTASK_RESUME( pxTCB );
\r
1148 /* As we are in a critical section we can access the ready
\r
1149 lists even if the scheduler is suspended. */
\r
1150 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1151 prvAddTaskToReadyList( pxTCB );
\r
1153 /* We may have just resumed a higher priority task. */
\r
1154 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1156 /* This yield may not cause the task just resumed to run, but
\r
1157 will leave the lists in the correct state for the next yield. */
\r
1158 portYIELD_WITHIN_API();
\r
1162 taskEXIT_CRITICAL();
\r
1166 #endif /* INCLUDE_vTaskSuspend */
\r
1168 /*-----------------------------------------------------------*/
\r
1170 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1172 portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
\r
1174 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1176 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1178 configASSERT( xTaskToResume );
\r
1179 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1181 pxTCB = ( tskTCB * ) xTaskToResume;
\r
1183 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1185 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1187 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1189 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1191 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1192 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1193 prvAddTaskToReadyList( pxTCB );
\r
1197 /* We cannot access the delayed or ready lists, so will hold this
\r
1198 task pending until the scheduler is resumed, at which point a
\r
1199 yield will be performed if necessary. */
\r
1200 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1204 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1206 return xYieldRequired;
\r
1209 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1210 /*-----------------------------------------------------------*/
\r
1212 void vTaskStartScheduler( void )
\r
1214 portBASE_TYPE xReturn;
\r
1216 /* Add the idle task at the lowest priority. */
\r
1217 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1219 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1220 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1221 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );
\r
1225 /* Create the idle task without storing its handle. */
\r
1226 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
\r
1228 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1230 #if ( configUSE_TIMERS == 1 )
\r
1232 if( xReturn == pdPASS )
\r
1234 xReturn = xTimerCreateTimerTask();
\r
1237 #endif /* configUSE_TIMERS */
\r
1239 if( xReturn == pdPASS )
\r
1241 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1242 before or during the call to xPortStartScheduler(). The stacks of
\r
1243 the created tasks contain a status word with interrupts switched on
\r
1244 so interrupts will automatically get re-enabled when the first task
\r
1247 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1248 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1249 portDISABLE_INTERRUPTS();
\r
1251 xSchedulerRunning = pdTRUE;
\r
1252 xTickCount = ( portTickType ) 0U;
\r
1254 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1255 macro must be defined to configure the timer/counter used to generate
\r
1256 the run time counter time base. */
\r
1257 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1259 /* Setting up the timer tick is hardware specific and thus in the
\r
1260 portable interface. */
\r
1261 if( xPortStartScheduler() != pdFALSE )
\r
1263 /* Should not reach here as if the scheduler is running the
\r
1264 function will not return. */
\r
1268 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1273 /* This line will only be reached if the kernel could not be started,
\r
1274 because there was not enough FreeRTOS heap to create the idle task
\r
1275 or the timer task. */
\r
1276 configASSERT( xReturn );
\r
1279 /*-----------------------------------------------------------*/
\r
1281 void vTaskEndScheduler( void )
\r
1283 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1284 routine so the original ISRs can be restored if necessary. The port
\r
1285 layer must ensure interrupts enable bit is left in the correct state. */
\r
1286 portDISABLE_INTERRUPTS();
\r
1287 xSchedulerRunning = pdFALSE;
\r
1288 vPortEndScheduler();
\r
1290 /*----------------------------------------------------------*/
\r
1292 void vTaskSuspendAll( void )
\r
1294 /* A critical section is not required as the variable is of type
\r
1296 ++uxSchedulerSuspended;
\r
1298 /*----------------------------------------------------------*/
\r
1300 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1302 static portTickType prvGetExpectedIdleTime( void )
\r
1304 portTickType xReturn;
\r
1306 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1310 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1312 /* There are other idle priority tasks in the ready state. If
\r
1313 time slicing is used then the very next tick interrupt must be
\r
1319 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1325 #endif /* configUSE_TICKLESS_IDLE */
\r
1326 /*----------------------------------------------------------*/
\r
1328 signed portBASE_TYPE xTaskResumeAll( void )
\r
1330 register tskTCB *pxTCB;
\r
1331 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1332 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1334 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1335 previous call to vTaskSuspendAll(). */
\r
1336 configASSERT( uxSchedulerSuspended );
\r
1338 /* It is possible that an ISR caused a task to be removed from an event
\r
1339 list while the scheduler was suspended. If this was the case then the
\r
1340 removed task will have been added to the xPendingReadyList. Once the
\r
1341 scheduler has been resumed it is safe to move all the pending ready
\r
1342 tasks from this list into their appropriate ready list. */
\r
1343 taskENTER_CRITICAL();
\r
1345 --uxSchedulerSuspended;
\r
1347 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1349 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1351 /* Move any readied tasks from the pending list into the
\r
1352 appropriate ready list. */
\r
1353 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1355 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1356 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1357 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1358 prvAddTaskToReadyList( pxTCB );
\r
1360 /* If we have moved a task that has a priority higher than
\r
1361 the current task then we should yield. */
\r
1362 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1364 xYieldRequired = pdTRUE;
\r
1368 /* If any ticks occurred while the scheduler was suspended then
\r
1369 they should be processed now. This ensures the tick count does not
\r
1370 slip, and that any delayed tasks are resumed at the correct time. */
\r
1371 if( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1373 while( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1375 if( xTaskIncrementTick() != pdFALSE )
\r
1377 xYieldRequired = pdTRUE;
\r
1383 if( ( xYieldRequired == pdTRUE ) || ( xYieldPending == pdTRUE ) )
\r
1385 xAlreadyYielded = pdTRUE;
\r
1386 xYieldPending = pdFALSE;
\r
1387 portYIELD_WITHIN_API();
\r
1392 taskEXIT_CRITICAL();
\r
1394 return xAlreadyYielded;
\r
1396 /*-----------------------------------------------------------*/
\r
1398 portTickType xTaskGetTickCount( void )
\r
1400 portTickType xTicks;
\r
1402 /* Critical section required if running on a 16 bit processor. */
\r
1403 taskENTER_CRITICAL();
\r
1405 xTicks = xTickCount;
\r
1407 taskEXIT_CRITICAL();
\r
1411 /*-----------------------------------------------------------*/
\r
1413 portTickType xTaskGetTickCountFromISR( void )
\r
1415 portTickType xReturn;
\r
1416 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1418 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1420 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1421 xReturn = xTickCount;
\r
1422 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1426 /*-----------------------------------------------------------*/
\r
1428 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1430 /* A critical section is not required because the variables are of type
\r
1432 return uxCurrentNumberOfTasks;
\r
1434 /*-----------------------------------------------------------*/
\r
1436 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1438 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1442 /* If null is passed in here then the name of the calling task is being queried. */
\r
1443 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1444 configASSERT( pxTCB );
\r
1445 return &( pxTCB->pcTaskName[ 0 ] );
\r
1448 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1449 /*-----------------------------------------------------------*/
\r
1451 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1453 unsigned portBASE_TYPE xTaskGetSystemState( xTaskStatusType *pxTaskStatusArray, unsigned portBASE_TYPE uxArraySize, unsigned long *pulTotalRunTime )
\r
1455 unsigned portBASE_TYPE uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1457 vTaskSuspendAll();
\r
1459 /* Is there a space in the array for each task in the system? */
\r
1460 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1462 /* Fill in an xTaskStatusType structure with information on each
\r
1463 task in the Ready state. */
\r
1467 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1469 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1471 /* Fill in an xTaskStatusType structure with information on each
\r
1472 task in the Blocked state. */
\r
1473 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxDelayedTaskList, eBlocked );
\r
1474 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxOverflowDelayedTaskList, eBlocked );
\r
1476 #if( INCLUDE_vTaskDelete == 1 )
\r
1478 /* Fill in an xTaskStatusType structure with information on
\r
1479 each task that has been deleted but not yet cleaned up. */
\r
1480 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1484 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1486 /* Fill in an xTaskStatusType structure with information on
\r
1487 each task in the Suspended state. */
\r
1488 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1492 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1494 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1498 *pulTotalRunTime = 0;
\r
1508 #endif /* configUSE_TRACE_FACILITY */
\r
1509 /*----------------------------------------------------------*/
\r
1511 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1513 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1515 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1516 started, then xIdleTaskHandle will be NULL. */
\r
1517 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1518 return xIdleTaskHandle;
\r
1521 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1522 /*----------------------------------------------------------*/
\r
1524 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1525 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1526 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1528 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1530 void vTaskStepTick( portTickType xTicksToJump )
\r
1532 /* Correct the tick count value after a period during which the tick
\r
1533 was suppressed. Note this does *not* call the tick hook function for
\r
1534 each stepped tick. */
\r
1535 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1536 xTickCount += xTicksToJump;
\r
1539 #endif /* configUSE_TICKLESS_IDLE */
\r
1540 /*----------------------------------------------------------*/
\r
1542 portBASE_TYPE xTaskIncrementTick( void )
\r
1545 portTickType xItemValue;
\r
1546 portBASE_TYPE xSwitchRequired = pdFALSE;
\r
1548 /* Called by the portable layer each time a tick interrupt occurs.
\r
1549 Increments the tick then checks to see if the new tick value will cause any
\r
1550 tasks to be unblocked. */
\r
1551 traceTASK_INCREMENT_TICK( xTickCount );
\r
1552 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1554 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1555 delayed lists if it wraps to 0. */
\r
1557 if( xTickCount == ( portTickType ) 0U )
\r
1559 taskSWITCH_DELAYED_LISTS();
\r
1562 /* See if this tick has made a timeout expire. Tasks are stored in the
\r
1563 queue in the order of their wake time - meaning once one tasks has been
\r
1564 found whose block time has not expired there is no need not look any
\r
1565 further down the list. */
\r
1566 if( xTickCount >= xNextTaskUnblockTime )
\r
1570 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1572 /* The delayed list is empty. Set xNextTaskUnblockTime to
\r
1573 the maximum possible value so it is extremely unlikely that
\r
1574 the if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1575 next time through. */
\r
1576 xNextTaskUnblockTime = portMAX_DELAY;
\r
1581 /* The delayed list is not empty, get the value of the item
\r
1582 at the head of the delayed list. This is the time at which
\r
1583 the task at the head of the delayed list must be removed
\r
1584 from the Blocked state. */
\r
1585 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1586 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1588 if( xTickCount < xItemValue )
\r
1590 /* It is not time to unblock this item yet, but the item
\r
1591 value is the time at which the task at the head of the
\r
1592 blocked list must be removed from the Blocked state -
\r
1593 so record the item value in xNextTaskUnblockTime. */
\r
1594 xNextTaskUnblockTime = xItemValue;
\r
1598 /* It is time to remove the item from the Blocked state. */
\r
1599 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1601 /* Is the task waiting on an event also? If so remove it
\r
1602 from the event list. */
\r
1603 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
1605 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1608 /* Place the unblocked task into the appropriate ready
\r
1610 prvAddTaskToReadyList( pxTCB );
\r
1612 /* A task being unblocked cannot cause an immediate context
\r
1613 switch if preemption is turned off. */
\r
1614 #if ( configUSE_PREEMPTION == 1 )
\r
1616 /* Preemption is on, but a context switch should only
\r
1617 be performed if the unblocked task has a priority that
\r
1618 is equal to or higher than the currently executing
\r
1620 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1622 xSwitchRequired = pdTRUE;
\r
1625 #endif /* configUSE_PREEMPTION */
\r
1630 /* Tasks of equal priority to the currently running task will share
\r
1631 processing time (time slice) if preemption is on, and the application
\r
1632 writer has not explicitly turned time slicing off. */
\r
1633 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
1635 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > 1 )
\r
1637 xSwitchRequired = pdTRUE;
\r
1640 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
1646 /* The tick hook gets called at regular intervals, even if the
\r
1647 scheduler is locked. */
\r
1648 #if ( configUSE_TICK_HOOK == 1 )
\r
1650 vApplicationTickHook();
\r
1655 #if ( configUSE_TICK_HOOK == 1 )
\r
1657 /* Guard against the tick hook being called when the missed tick
\r
1658 count is being unwound (when the scheduler is being unlocked). */
\r
1659 if( uxPendedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1661 vApplicationTickHook();
\r
1664 #endif /* configUSE_TICK_HOOK */
\r
1666 return xSwitchRequired;
\r
1668 /*-----------------------------------------------------------*/
\r
1670 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1672 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1676 /* If xTask is NULL then we are setting our own task hook. */
\r
1677 if( xTask == NULL )
\r
1679 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1683 xTCB = ( tskTCB * ) xTask;
\r
1686 /* Save the hook function in the TCB. A critical section is required as
\r
1687 the value can be accessed from an interrupt. */
\r
1688 taskENTER_CRITICAL();
\r
1689 xTCB->pxTaskTag = pxHookFunction;
\r
1690 taskEXIT_CRITICAL();
\r
1693 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1694 /*-----------------------------------------------------------*/
\r
1696 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1698 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1701 pdTASK_HOOK_CODE xReturn;
\r
1703 /* If xTask is NULL then we are setting our own task hook. */
\r
1704 if( xTask == NULL )
\r
1706 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1710 xTCB = ( tskTCB * ) xTask;
\r
1713 /* Save the hook function in the TCB. A critical section is required as
\r
1714 the value can be accessed from an interrupt. */
\r
1715 taskENTER_CRITICAL();
\r
1716 xReturn = xTCB->pxTaskTag;
\r
1717 taskEXIT_CRITICAL();
\r
1722 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1723 /*-----------------------------------------------------------*/
\r
1725 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1727 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1730 portBASE_TYPE xReturn;
\r
1732 /* If xTask is NULL then we are calling our own task hook. */
\r
1733 if( xTask == NULL )
\r
1735 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1739 xTCB = ( tskTCB * ) xTask;
\r
1742 if( xTCB->pxTaskTag != NULL )
\r
1744 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1754 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1755 /*-----------------------------------------------------------*/
\r
1757 void vTaskSwitchContext( void )
\r
1759 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1761 /* The scheduler is currently suspended - do not allow a context
\r
1763 xYieldPending = pdTRUE;
\r
1767 traceTASK_SWITCHED_OUT();
\r
1769 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1771 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1772 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1774 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1777 /* Add the amount of time the task has been running to the
\r
1778 accumulated time so far. The time the task started running was
\r
1779 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
1780 protection here so count values are only valid until the timer
\r
1781 overflows. The guard against negative values is to protect
\r
1782 against suspect run time stat counter implementations - which
\r
1783 are provided by the application, not the kernel. */
\r
1784 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
1786 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
1788 ulTaskSwitchedInTime = ulTotalRunTime;
\r
1790 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1792 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1793 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1795 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
1797 traceTASK_SWITCHED_IN();
\r
1799 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1801 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1802 structure specific to this task. */
\r
1803 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1805 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1808 /*-----------------------------------------------------------*/
\r
1810 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1812 portTickType xTimeToWake;
\r
1814 configASSERT( pxEventList );
\r
1816 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1817 SCHEDULER SUSPENDED. */
\r
1819 /* Place the event list item of the TCB in the appropriate event list.
\r
1820 This is placed in the list in priority order so the highest priority task
\r
1821 is the first to be woken by the event. */
\r
1822 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1824 /* We must remove ourselves from the ready list before adding ourselves
\r
1825 to the blocked list as the same list item is used for both lists. We have
\r
1826 exclusive access to the ready lists as the scheduler is locked. */
\r
1827 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1829 /* The current task must be in a ready list, so there is no need to
\r
1830 check, and the port reset macro can be called directly. */
\r
1831 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1834 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1836 if( xTicksToWait == portMAX_DELAY )
\r
1838 /* Add ourselves to the suspended task list instead of a delayed task
\r
1839 list to ensure we are not woken by a timing event. We will block
\r
1841 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1845 /* Calculate the time at which the task should be woken if the event does
\r
1846 not occur. This may overflow but this doesn't matter. */
\r
1847 xTimeToWake = xTickCount + xTicksToWait;
\r
1848 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1851 #else /* INCLUDE_vTaskSuspend */
\r
1853 /* Calculate the time at which the task should be woken if the event does
\r
1854 not occur. This may overflow but this doesn't matter. */
\r
1855 xTimeToWake = xTickCount + xTicksToWait;
\r
1856 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1858 #endif /* INCLUDE_vTaskSuspend */
\r
1860 /*-----------------------------------------------------------*/
\r
1862 #if configUSE_TIMERS == 1
\r
1864 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1866 portTickType xTimeToWake;
\r
1868 configASSERT( pxEventList );
\r
1870 /* This function should not be called by application code hence the
\r
1871 'Restricted' in its name. It is not part of the public API. It is
\r
1872 designed for use by kernel code, and has special calling requirements -
\r
1873 it should be called from a critical section. */
\r
1876 /* Place the event list item of the TCB in the appropriate event list.
\r
1877 In this case it is assume that this is the only task that is going to
\r
1878 be waiting on this event list, so the faster vListInsertEnd() function
\r
1879 can be used in place of vListInsert. */
\r
1880 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1882 /* We must remove this task from the ready list before adding it to the
\r
1883 blocked list as the same list item is used for both lists. This
\r
1884 function is called form a critical section. */
\r
1885 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1887 /* The current task must be in a ready list, so there is no need to
\r
1888 check, and the port reset macro can be called directly. */
\r
1889 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1892 /* Calculate the time at which the task should be woken if the event does
\r
1893 not occur. This may overflow but this doesn't matter. */
\r
1894 xTimeToWake = xTickCount + xTicksToWait;
\r
1896 traceTASK_DELAY_UNTIL();
\r
1897 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1900 #endif /* configUSE_TIMERS */
\r
1901 /*-----------------------------------------------------------*/
\r
1903 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1905 tskTCB *pxUnblockedTCB;
\r
1906 portBASE_TYPE xReturn;
\r
1908 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1909 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1911 /* The event list is sorted in priority order, so we can remove the
\r
1912 first in the list, remove the TCB from the delayed list, and add
\r
1913 it to the ready list.
\r
1915 If an event is for a queue that is locked then this function will never
\r
1916 get called - the lock count on the queue will get modified instead. This
\r
1917 means we can always expect exclusive access to the event list here.
\r
1919 This function assumes that a check has already been made to ensure that
\r
1920 pxEventList is not empty. */
\r
1921 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1922 configASSERT( pxUnblockedTCB );
\r
1923 uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1925 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1927 uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1928 prvAddTaskToReadyList( pxUnblockedTCB );
\r
1932 /* We cannot access the delayed or ready lists, so will hold this
\r
1933 task pending until the scheduler is resumed. */
\r
1934 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1937 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1939 /* Return true if the task removed from the event list has
\r
1940 a higher priority than the calling task. This allows
\r
1941 the calling task to know if it should force a context
\r
1947 xReturn = pdFALSE;
\r
1952 /*-----------------------------------------------------------*/
\r
1954 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1956 configASSERT( pxTimeOut );
\r
1957 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1958 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1960 /*-----------------------------------------------------------*/
\r
1962 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1964 portBASE_TYPE xReturn;
\r
1966 configASSERT( pxTimeOut );
\r
1967 configASSERT( pxTicksToWait );
\r
1969 taskENTER_CRITICAL();
\r
1971 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1972 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1973 the maximum block time then the task should block indefinitely, and
\r
1974 therefore never time out. */
\r
1975 if( *pxTicksToWait == portMAX_DELAY )
\r
1977 xReturn = pdFALSE;
\r
1979 else /* We are not blocking indefinitely, perform the checks below. */
\r
1982 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
1984 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1985 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1986 It must have wrapped all the way around and gone past us again. This
\r
1987 passed since vTaskSetTimeout() was called. */
\r
1990 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
1992 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1993 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
1994 vTaskSetTimeOutState( pxTimeOut );
\r
1995 xReturn = pdFALSE;
\r
2002 taskEXIT_CRITICAL();
\r
2006 /*-----------------------------------------------------------*/
\r
2008 void vTaskMissedYield( void )
\r
2010 xYieldPending = pdTRUE;
\r
2012 /*-----------------------------------------------------------*/
\r
2014 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2016 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
2018 unsigned portBASE_TYPE uxReturn;
\r
2021 if( xTask != NULL )
\r
2023 pxTCB = ( tskTCB * ) xTask;
\r
2024 uxReturn = pxTCB->uxTaskNumber;
\r
2034 #endif /* configUSE_TRACE_FACILITY */
\r
2035 /*-----------------------------------------------------------*/
\r
2037 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2039 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
2043 if( xTask != NULL )
\r
2045 pxTCB = ( tskTCB * ) xTask;
\r
2046 pxTCB->uxTaskNumber = uxHandle;
\r
2050 #endif /* configUSE_TRACE_FACILITY */
\r
2053 * -----------------------------------------------------------
\r
2055 * ----------------------------------------------------------
\r
2057 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2058 * language extensions. The equivalent prototype for this function is:
\r
2060 * void prvIdleTask( void *pvParameters );
\r
2063 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2065 /* Stop warnings. */
\r
2066 ( void ) pvParameters;
\r
2070 /* See if any tasks have been deleted. */
\r
2071 prvCheckTasksWaitingTermination();
\r
2073 #if ( configUSE_PREEMPTION == 0 )
\r
2075 /* If we are not using preemption we keep forcing a task switch to
\r
2076 see if any other task has become available. If we are using
\r
2077 preemption we don't need to do this as any task becoming available
\r
2078 will automatically get the processor anyway. */
\r
2081 #endif /* configUSE_PREEMPTION */
\r
2083 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2085 /* When using preemption tasks of equal priority will be
\r
2086 timesliced. If a task that is sharing the idle priority is ready
\r
2087 to run then the idle task should yield before the end of the
\r
2090 A critical region is not required here as we are just reading from
\r
2091 the list, and an occasional incorrect value will not matter. If
\r
2092 the ready list at the idle priority contains more than one task
\r
2093 then a task other than the idle task is ready to execute. */
\r
2094 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2099 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2101 #if ( configUSE_IDLE_HOOK == 1 )
\r
2103 extern void vApplicationIdleHook( void );
\r
2105 /* Call the user defined function from within the idle task. This
\r
2106 allows the application designer to add background functionality
\r
2107 without the overhead of a separate task.
\r
2108 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2109 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2110 vApplicationIdleHook();
\r
2112 #endif /* configUSE_IDLE_HOOK */
\r
2114 /* This conditional compilation should use inequality to 0, not equality
\r
2115 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2116 user defined low power mode implementations require
\r
2117 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2118 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2120 portTickType xExpectedIdleTime;
\r
2122 /* It is not desirable to suspend then resume the scheduler on
\r
2123 each iteration of the idle task. Therefore, a preliminary
\r
2124 test of the expected idle time is performed without the
\r
2125 scheduler suspended. The result here is not necessarily
\r
2127 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2129 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2131 vTaskSuspendAll();
\r
2133 /* Now the scheduler is suspended, the expected idle
\r
2134 time can be sampled again, and this time its value can
\r
2136 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2137 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2139 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2141 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2147 #endif /* configUSE_TICKLESS_IDLE */
\r
2149 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
2150 /*-----------------------------------------------------------*/
\r
2152 #if configUSE_TICKLESS_IDLE != 0
\r
2154 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2156 eSleepModeStatus eReturn = eStandardSleep;
\r
2158 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2160 /* A task was made ready while the scheduler was suspended. */
\r
2161 eReturn = eAbortSleep;
\r
2163 else if( xYieldPending != pdFALSE )
\r
2165 /* A yield was pended while the scheduler was suspended. */
\r
2166 eReturn = eAbortSleep;
\r
2170 #if configUSE_TIMERS == 0
\r
2172 /* The idle task exists in addition to the application tasks. */
\r
2173 const unsigned portBASE_TYPE uxNonApplicationTasks = 1;
\r
2175 /* If timers are not being used and all the tasks are in the
\r
2176 suspended list (which might mean they have an infinite block
\r
2177 time rather than actually being suspended) then it is safe to
\r
2178 turn all clocks off and just wait for external interrupts. */
\r
2179 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2181 eReturn = eNoTasksWaitingTimeout;
\r
2184 #endif /* configUSE_TIMERS */
\r
2189 #endif /* configUSE_TICKLESS_IDLE */
\r
2190 /*-----------------------------------------------------------*/
\r
2192 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2196 /* Store the task name in the TCB. */
\r
2197 for( x = 0; x < configMAX_TASK_NAME_LEN; x++ )
\r
2199 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2201 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2202 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2203 string is not accessible (extremely unlikely). */
\r
2204 if( pcName[ x ] == 0x00 )
\r
2210 /* Ensure the name string is terminated in the case that the string length
\r
2211 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2212 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = ( signed char ) '\0';
\r
2214 /* This is used as an array index so must ensure it's not too large. First
\r
2215 remove the privilege bit if one is present. */
\r
2216 if( uxPriority >= configMAX_PRIORITIES )
\r
2218 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2221 pxTCB->uxPriority = uxPriority;
\r
2222 #if ( configUSE_MUTEXES == 1 )
\r
2224 pxTCB->uxBasePriority = uxPriority;
\r
2226 #endif /* configUSE_MUTEXES */
\r
2228 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2229 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2231 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2232 back to the containing TCB from a generic item in a list. */
\r
2233 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2235 /* Event lists are always in priority order. */
\r
2236 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
2237 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2239 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2241 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2243 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2245 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2247 pxTCB->pxTaskTag = NULL;
\r
2249 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2251 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2253 pxTCB->ulRunTimeCounter = 0UL;
\r
2255 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2257 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2259 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2261 #else /* portUSING_MPU_WRAPPERS */
\r
2263 ( void ) xRegions;
\r
2264 ( void ) usStackDepth;
\r
2266 #endif /* portUSING_MPU_WRAPPERS */
\r
2268 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2270 /* Initialise this task's Newlib reent structure. */
\r
2271 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2273 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2275 /*-----------------------------------------------------------*/
\r
2277 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2279 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2283 if( xTaskToModify == pxCurrentTCB )
\r
2285 xTaskToModify = NULL;
\r
2288 /* If null is passed in here then we are deleting ourselves. */
\r
2289 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2291 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2294 #endif /* portUSING_MPU_WRAPPERS */
\r
2295 /*-----------------------------------------------------------*/
\r
2297 static void prvInitialiseTaskLists( void )
\r
2299 unsigned portBASE_TYPE uxPriority;
\r
2301 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2303 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2306 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2307 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2308 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2310 #if ( INCLUDE_vTaskDelete == 1 )
\r
2312 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2314 #endif /* INCLUDE_vTaskDelete */
\r
2316 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2318 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2320 #endif /* INCLUDE_vTaskSuspend */
\r
2322 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2324 pxDelayedTaskList = &xDelayedTaskList1;
\r
2325 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2327 /*-----------------------------------------------------------*/
\r
2329 static void prvCheckTasksWaitingTermination( void )
\r
2331 #if ( INCLUDE_vTaskDelete == 1 )
\r
2333 portBASE_TYPE xListIsEmpty;
\r
2335 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2336 too often in the idle task. */
\r
2337 while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2339 vTaskSuspendAll();
\r
2340 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2343 if( xListIsEmpty == pdFALSE )
\r
2347 taskENTER_CRITICAL();
\r
2349 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2350 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2351 --uxCurrentNumberOfTasks;
\r
2354 taskEXIT_CRITICAL();
\r
2356 prvDeleteTCB( pxTCB );
\r
2360 #endif /* vTaskDelete */
\r
2362 /*-----------------------------------------------------------*/
\r
2364 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2366 /* The list item will be inserted in wake time order. */
\r
2367 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2369 if( xTimeToWake < xTickCount )
\r
2371 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2372 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2376 /* The wake time has not overflowed, so we can use the current block list. */
\r
2377 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2379 /* If the task entering the blocked state was placed at the head of the
\r
2380 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2382 if( xTimeToWake < xNextTaskUnblockTime )
\r
2384 xNextTaskUnblockTime = xTimeToWake;
\r
2388 /*-----------------------------------------------------------*/
\r
2390 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2394 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2395 the implementation of the port malloc function. */
\r
2396 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2398 if( pxNewTCB != NULL )
\r
2400 /* Allocate space for the stack used by the task being created.
\r
2401 The base of the stack memory stored in the TCB so the task can
\r
2402 be deleted later if required. */
\r
2403 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2405 if( pxNewTCB->pxStack == NULL )
\r
2407 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2408 vPortFree( pxNewTCB );
\r
2413 /* Just to help debugging. */
\r
2414 memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2420 /*-----------------------------------------------------------*/
\r
2422 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2424 static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState )
\r
2426 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2427 unsigned portBASE_TYPE uxTask = 0;
\r
2429 if( listCURRENT_LIST_LENGTH( pxList ) > 0 )
\r
2431 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2433 /* Populate an xTaskStatusType structure within the
\r
2434 pxTaskStatusArray array for each task that is referenced from
\r
2435 pxList. See the definition of xTaskStatusType in task.h for the
\r
2436 meaning of each xTaskStatusType structure member. */
\r
2439 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2441 pxTaskStatusArray[ uxTask ].xHandle = ( xTaskHandle ) pxNextTCB;
\r
2442 pxTaskStatusArray[ uxTask ].pcTaskName = ( const signed char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
2443 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
2444 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
2445 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
2447 #if ( configUSE_MUTEXES == 1 )
\r
2449 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
2453 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
2457 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2459 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
2463 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
2467 #if ( portSTACK_GROWTH > 0 )
\r
2469 ppxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2473 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2479 } while( pxNextTCB != pxFirstTCB );
\r
2485 #endif /* configUSE_TRACE_FACILITY */
\r
2486 /*-----------------------------------------------------------*/
\r
2488 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2490 static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2492 register unsigned short usCount = 0U;
\r
2494 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2496 pucStackByte -= portSTACK_GROWTH;
\r
2500 usCount /= sizeof( portSTACK_TYPE );
\r
2505 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
2506 /*-----------------------------------------------------------*/
\r
2508 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2510 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2513 unsigned char *pcEndOfStack;
\r
2514 unsigned portBASE_TYPE uxReturn;
\r
2516 pxTCB = prvGetTCBFromHandle( xTask );
\r
2518 #if portSTACK_GROWTH < 0
\r
2520 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2524 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2528 uxReturn = ( unsigned portBASE_TYPE ) prvTaskCheckFreeStackSpace( pcEndOfStack );
\r
2533 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
2534 /*-----------------------------------------------------------*/
\r
2536 #if ( INCLUDE_vTaskDelete == 1 )
\r
2538 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2540 /* This call is required specifically for the TriCore port. It must be
\r
2541 above the vPortFree() calls. The call is also used by ports/demos that
\r
2542 want to allocate and clean RAM statically. */
\r
2543 portCLEAN_UP_TCB( pxTCB );
\r
2545 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2546 the task to free any memory allocated at the application level. */
\r
2547 vPortFreeAligned( pxTCB->pxStack );
\r
2548 vPortFree( pxTCB );
\r
2551 #endif /* INCLUDE_vTaskDelete */
\r
2552 /*-----------------------------------------------------------*/
\r
2554 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2556 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2558 xTaskHandle xReturn;
\r
2560 /* A critical section is not required as this is not called from
\r
2561 an interrupt and the current TCB will always be the same for any
\r
2562 individual execution thread. */
\r
2563 xReturn = pxCurrentTCB;
\r
2568 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
2569 /*-----------------------------------------------------------*/
\r
2571 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2573 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2575 portBASE_TYPE xReturn;
\r
2577 if( xSchedulerRunning == pdFALSE )
\r
2579 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2583 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2585 xReturn = taskSCHEDULER_RUNNING;
\r
2589 xReturn = taskSCHEDULER_SUSPENDED;
\r
2596 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
2597 /*-----------------------------------------------------------*/
\r
2599 #if ( configUSE_MUTEXES == 1 )
\r
2601 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2603 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2605 /* If the mutex was given back by an interrupt while the queue was
\r
2606 locked then the mutex holder might now be NULL. */
\r
2607 if( pxMutexHolder != NULL )
\r
2609 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2611 /* Adjust the mutex holder state to account for its new priority. */
\r
2612 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2614 /* If the task being modified is in the ready state it will need to
\r
2615 be moved into a new list. */
\r
2616 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2618 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2620 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2623 /* Inherit the priority before being moved into the new list. */
\r
2624 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2625 prvAddTaskToReadyList( pxTCB );
\r
2629 /* Just inherit the priority. */
\r
2630 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2633 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2638 #endif /* configUSE_MUTEXES */
\r
2639 /*-----------------------------------------------------------*/
\r
2641 #if ( configUSE_MUTEXES == 1 )
\r
2643 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2645 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2647 if( pxMutexHolder != NULL )
\r
2649 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2651 /* We must be the running task to be able to give the mutex back.
\r
2652 Remove ourselves from the ready list we currently appear in. */
\r
2653 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2655 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2658 /* Disinherit the priority before adding the task into the new
\r
2660 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2661 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2662 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2663 prvAddTaskToReadyList( pxTCB );
\r
2668 #endif /* configUSE_MUTEXES */
\r
2669 /*-----------------------------------------------------------*/
\r
2671 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2673 void vTaskEnterCritical( void )
\r
2675 portDISABLE_INTERRUPTS();
\r
2677 if( xSchedulerRunning != pdFALSE )
\r
2679 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2683 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2684 /*-----------------------------------------------------------*/
\r
2686 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2688 void vTaskExitCritical( void )
\r
2690 if( xSchedulerRunning != pdFALSE )
\r
2692 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2694 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2696 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2698 portENABLE_INTERRUPTS();
\r
2704 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2705 /*-----------------------------------------------------------*/
\r
2707 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configINCLUDE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
2709 void vTaskList( signed char *pcWriteBuffer )
\r
2711 xTaskStatusType *pxTaskStatusArray;
\r
2712 volatile unsigned portBASE_TYPE uxArraySize, x;
\r
2713 unsigned long ulTotalRunTime;
\r
2719 * This function is provided for convenience only, and is used by many
\r
2720 * of the demo applications. Do not consider it to be part of the
\r
2723 * vTaskList() calls xTaskGetSystemState(), then formats part of the
\r
2724 * xTaskGetSystemState() output into a human readable table that
\r
2725 * displays task names, states and stack usage.
\r
2727 * vTaskList() has a dependency on the sprintf() C library function that
\r
2728 * might bloat the code size, use a lot of stack, and provide different
\r
2729 * results on different platforms. An alternative, tiny, third party,
\r
2730 * and limited functionality implementation of sprintf() is provided in
\r
2731 * many of the FreeRTOS/Demo sub-directories in a file called
\r
2732 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
2733 * snprintf() implementation!).
\r
2735 * It is recommended that production systems call xTaskGetSystemState()
\r
2736 * directly to get access to raw stats data, rather than indirectly
\r
2737 * through a call to vTaskList().
\r
2741 /* Make sure the write buffer does not contain a string. */
\r
2742 *pcWriteBuffer = 0x00;
\r
2744 /* Take a snapshot of the number of tasks in case it changes while this
\r
2745 function is executing. */
\r
2746 uxArraySize = uxCurrentNumberOfTasks;
\r
2748 /* Allocate an array index for each task. */
\r
2749 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
\r
2751 if( pxTaskStatusArray != NULL )
\r
2753 /* Generate the (binary) data. */
\r
2754 uxArraySize = xTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalRunTime );
\r
2756 /* Create a human readable table from the binary data. */
\r
2757 for( x = 0; x < uxArraySize; x++ )
\r
2759 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
2761 case eReady: cStatus = tskREADY_CHAR;
\r
2764 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
2767 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
2770 case eDeleted: cStatus = tskDELETED_CHAR;
\r
2773 default: /* Should not get here, but it is included
\r
2774 to prevent static checking errors. */
\r
2779 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxTaskStatusArray[ x ].pcTaskName, cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
2780 pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
\r
2783 /* Free the array again. */
\r
2784 vPortFree( pxTaskStatusArray );
\r
2788 #endif /* configUSE_TRACE_FACILITY */
\r
2789 /*----------------------------------------------------------*/
\r
2791 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configINCLUDE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
2793 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
2795 xTaskStatusType *pxTaskStatusArray;
\r
2796 volatile unsigned portBASE_TYPE uxArraySize, x;
\r
2797 unsigned long ulTotalRunTime, ulStatsAsPercentage;
\r
2802 * This function is provided for convenience only, and is used by many
\r
2803 * of the demo applications. Do not consider it to be part of the
\r
2806 * vTaskGetRunTimeStats() calls xTaskGetSystemState(), then formats part
\r
2807 * of the xTaskGetSystemState() output into a human readable table that
\r
2808 * displays the amount of time each task has spent in the Running state
\r
2809 * in both absolute and percentage terms.
\r
2811 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
2812 * function that might bloat the code size, use a lot of stack, and
\r
2813 * provide different results on different platforms. An alternative,
\r
2814 * tiny, third party, and limited functionality implementation of
\r
2815 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
2816 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
2817 * a full snprintf() implementation!).
\r
2819 * It is recommended that production systems call xTaskGetSystemState()
\r
2820 * directly to get access to raw stats data, rather than indirectly
\r
2821 * through a call to vTaskGetRunTimeStats().
\r
2824 /* Make sure the write buffer does not contain a string. */
\r
2825 *pcWriteBuffer = 0x00;
\r
2827 /* Take a snapshot of the number of tasks in case it changes while this
\r
2828 function is executing. */
\r
2829 uxArraySize = uxCurrentNumberOfTasks;
\r
2831 /* Allocate an array index for each task. */
\r
2832 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
\r
2834 if( pxTaskStatusArray != NULL )
\r
2836 /* Generate the (binary) data. */
\r
2837 uxArraySize = xTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalRunTime );
\r
2839 /* For percentage calculations. */
\r
2840 ulTotalRunTime /= 100UL;
\r
2842 /* Avoid divide by zero errors. */
\r
2843 if( ulTotalRunTime > 0 )
\r
2845 /* Create a human readable table from the binary data. */
\r
2846 for( x = 0; x < uxArraySize; x++ )
\r
2848 /* What percentage of the total run time has the task used?
\r
2849 This will always be rounded down to the nearest integer.
\r
2850 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
2851 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalRunTime;
\r
2853 if( ulStatsAsPercentage > 0UL )
\r
2855 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2857 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
2861 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2862 printf() library can be used. */
\r
2863 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2869 /* If the percentage is zero here then the task has
\r
2870 consumed less than 1% of the total run time. */
\r
2871 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2873 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
2877 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2878 printf() library can be used. */
\r
2879 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
2884 pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
\r
2888 /* Free the array again. */
\r
2889 vPortFree( pxTaskStatusArray );
\r
2893 #endif /* configGENERATE_RUN_TIME_STATS */
\r
projects / freertos / blob