2 FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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27 ***************************************************************************
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29 * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
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30 * and even write all or part of your application on your behalf. *
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31 * See http://www.OpenRTOS.com for details of the services we provide to *
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32 * expedite your project. *
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34 ***************************************************************************
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35 ***************************************************************************
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37 Please ensure to read the configuration and relevant port sections of the
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38 online documentation.
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40 http://www.FreeRTOS.org - Documentation, latest information, license and
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43 http://www.SafeRTOS.com - A version that is certified for use in safety
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46 http://www.OpenRTOS.com - Commercial support, development, porting,
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47 licensing and training services.
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51 Changes since V4.3.1:
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53 + Added xTaskGetSchedulerState() function.
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59 #include "portable.h"
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65 /*-----------------------------------------------------------
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66 * MACROS AND DEFINITIONS
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67 *----------------------------------------------------------*/
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69 #define tskKERNEL_VERSION_NUMBER "V5.0.0"
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74 * Type by which tasks are referenced. For example, a call to xTaskCreate
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75 * returns (via a pointer parameter) an xTaskHandle variable that can then
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76 * be used as a parameter to vTaskDelete to delete the task.
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78 * \page xTaskHandle xTaskHandle
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81 typedef void * xTaskHandle;
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84 * Used internally only.
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86 typedef struct xTIME_OUT
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88 portBASE_TYPE xOverflowCount;
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89 portTickType xTimeOnEntering;
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93 * Defines the priority used by the idle task. This must not be modified.
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95 * \ingroup TaskUtils
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97 #define tskIDLE_PRIORITY ( ( unsigned portBASE_TYPE ) 0 )
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102 * Macro for forcing a context switch.
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104 * \page taskYIELD taskYIELD
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105 * \ingroup SchedulerControl
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107 #define taskYIELD() portYIELD()
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112 * Macro to mark the start of a critical code region. Preemptive context
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113 * switches cannot occur when in a critical region.
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115 * NOTE: This may alter the stack (depending on the portable implementation)
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116 * so must be used with care!
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118 * \page taskENTER_CRITICAL taskENTER_CRITICAL
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119 * \ingroup SchedulerControl
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121 #define taskENTER_CRITICAL() portENTER_CRITICAL()
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126 * Macro to mark the end of a critical code region. Preemptive context
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127 * switches cannot occur when in a critical region.
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129 * NOTE: This may alter the stack (depending on the portable implementation)
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130 * so must be used with care!
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132 * \page taskEXIT_CRITICAL taskEXIT_CRITICAL
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133 * \ingroup SchedulerControl
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135 #define taskEXIT_CRITICAL() portEXIT_CRITICAL()
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140 * Macro to disable all maskable interrupts.
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142 * \page taskDISABLE_INTERRUPTS taskDISABLE_INTERRUPTS
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143 * \ingroup SchedulerControl
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145 #define taskDISABLE_INTERRUPTS() portDISABLE_INTERRUPTS()
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150 * Macro to enable microcontroller interrupts.
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152 * \page taskENABLE_INTERRUPTS taskENABLE_INTERRUPTS
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153 * \ingroup SchedulerControl
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155 #define taskENABLE_INTERRUPTS() portENABLE_INTERRUPTS()
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157 /* Definitions returned by xTaskGetSchedulerState(). */
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158 #define taskSCHEDULER_NOT_STARTED 0
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159 #define taskSCHEDULER_RUNNING 1
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160 #define taskSCHEDULER_SUSPENDED 2
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162 /*-----------------------------------------------------------
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163 * TASK CREATION API
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164 *----------------------------------------------------------*/
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169 portBASE_TYPE xTaskCreate(
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170 pdTASK_CODE pvTaskCode,
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171 const portCHAR * const pcName,
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172 unsigned portSHORT usStackDepth,
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173 void *pvParameters,
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174 unsigned portBASE_TYPE uxPriority,
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175 xTaskHandle *pvCreatedTask
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178 * Create a new task and add it to the list of tasks that are ready to run.
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180 * @param pvTaskCode Pointer to the task entry function. Tasks
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181 * must be implemented to never return (i.e. continuous loop).
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183 * @param pcName A descriptive name for the task. This is mainly used to
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184 * facilitate debugging. Max length defined by tskMAX_TASK_NAME_LEN - default
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187 * @param usStackDepth The size of the task stack specified as the number of
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188 * variables the stack can hold - not the number of bytes. For example, if
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189 * the stack is 16 bits wide and usStackDepth is defined as 100, 200 bytes
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190 * will be allocated for stack storage.
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192 * @param pvParameters Pointer that will be used as the parameter for the task
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195 * @param uxPriority The priority at which the task should run.
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197 * @param pvCreatedTask Used to pass back a handle by which the created task
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198 * can be referenced.
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200 * @return pdPASS if the task was successfully created and added to a ready
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201 * list, otherwise an error code defined in the file errors. h
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205 // Task to be created.
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206 void vTaskCode( void * pvParameters )
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210 // Task code goes here.
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214 // Function that creates a task.
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215 void vOtherFunction( void )
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217 unsigned char ucParameterToPass;
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218 xTaskHandle xHandle;
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220 // Create the task, storing the handle.
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221 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle );
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223 // Use the handle to delete the task.
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224 vTaskDelete( xHandle );
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227 * \defgroup xTaskCreate xTaskCreate
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230 signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pvCreatedTask );
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234 * <pre>void vTaskDelete( xTaskHandle pxTask );</pre>
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236 * INCLUDE_vTaskDelete must be defined as 1 for this function to be available.
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237 * See the configuration section for more information.
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239 * Remove a task from the RTOS real time kernels management. The task being
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240 * deleted will be removed from all ready, blocked, suspended and event lists.
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242 * NOTE: The idle task is responsible for freeing the kernel allocated
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243 * memory from tasks that have been deleted. It is therefore important that
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244 * the idle task is not starved of microcontroller processing time if your
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245 * application makes any calls to vTaskDelete (). Memory allocated by the
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246 * task code is not automatically freed, and should be freed before the task
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249 * See the demo application file death.c for sample code that utilises
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252 * @param pxTask The handle of the task to be deleted. Passing NULL will
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253 * cause the calling task to be deleted.
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257 void vOtherFunction( void )
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259 xTaskHandle xHandle;
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261 // Create the task, storing the handle.
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262 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
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264 // Use the handle to delete the task.
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265 vTaskDelete( xHandle );
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268 * \defgroup vTaskDelete vTaskDelete
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271 void vTaskDelete( xTaskHandle pxTask );
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274 /*-----------------------------------------------------------
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276 *----------------------------------------------------------*/
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280 * <pre>void vTaskDelay( portTickType xTicksToDelay );</pre>
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282 * Delay a task for a given number of ticks. The actual time that the
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283 * task remains blocked depends on the tick rate. The constant
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284 * portTICK_RATE_MS can be used to calculate real time from the tick
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285 * rate - with the resolution of one tick period.
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287 * INCLUDE_vTaskDelay must be defined as 1 for this function to be available.
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288 * See the configuration section for more information.
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290 * @param xTicksToDelay The amount of time, in tick periods, that
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291 * the calling task should block.
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295 // Wait 10 ticks before performing an action.
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297 // This is for demonstration only and would be better achieved
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298 // using vTaskDelayUntil ().
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299 void vTaskFunction( void * pvParameters )
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301 portTickType xDelay, xNextTime;
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303 // Calc the time at which we want to perform the action
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305 xNextTime = xTaskGetTickCount () + ( portTickType ) 10;
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309 xDelay = xNextTime - xTaskGetTickCount ();
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310 xNextTime += ( portTickType ) 10;
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312 // Guard against overflow
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313 if( xDelay <= ( portTickType ) 10 )
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315 vTaskDelay( xDelay );
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318 // Perform action here.
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322 * \defgroup vTaskDelay vTaskDelay
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323 * \ingroup TaskCtrl
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325 void vTaskDelay( portTickType xTicksToDelay );
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329 * <pre>void vTaskDelayUntil( portTickType *pxPreviousWakeTime, portTickType xTimeIncrement );</pre>
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331 * INCLUDE_vTaskDelayUntil must be defined as 1 for this function to be available.
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332 * See the configuration section for more information.
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334 * Delay a task until a specified time. This function can be used by cyclical
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335 * tasks to ensure a constant execution frequency.
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337 * This function differs from vTaskDelay () in one important aspect: vTaskDelay () will
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338 * cause a task to block for the specified number of ticks from the time vTaskDelay () is
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339 * called. It is therefore difficult to use vTaskDelay () by itself to generate a fixed
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340 * execution frequency as the time between a task starting to execute and that task
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341 * calling vTaskDelay () may not be fixed [the task may take a different path though the
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342 * code between calls, or may get interrupted or preempted a different number of times
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343 * each time it executes].
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345 * Whereas vTaskDelay () specifies a wake time relative to the time at which the function
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346 * is called, vTaskDelayUntil () specifies the absolute (exact) time at which it wishes to
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349 * The constant portTICK_RATE_MS can be used to calculate real time from the tick
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350 * rate - with the resolution of one tick period.
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352 * @param pxPreviousWakeTime Pointer to a variable that holds the time at which the
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353 * task was last unblocked. The variable must be initialised with the current time
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354 * prior to its first use (see the example below). Following this the variable is
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355 * automatically updated within vTaskDelayUntil ().
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357 * @param xTimeIncrement The cycle time period. The task will be unblocked at
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358 * time *pxPreviousWakeTime + xTimeIncrement. Calling vTaskDelayUntil with the
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359 * same xTimeIncrement parameter value will cause the task to execute with
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360 * a fixed interface period.
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364 // Perform an action every 10 ticks.
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365 void vTaskFunction( void * pvParameters )
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367 portTickType xLastWakeTime;
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368 const portTickType xFrequency = 10;
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370 // Initialise the xLastWakeTime variable with the current time.
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371 xLastWakeTime = xTaskGetTickCount ();
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374 // Wait for the next cycle.
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375 vTaskDelayUntil( &xLastWakeTime, xFrequency );
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377 // Perform action here.
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381 * \defgroup vTaskDelayUntil vTaskDelayUntil
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382 * \ingroup TaskCtrl
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384 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement );
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388 * <pre>unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask );</pre>
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390 * INCLUDE_xTaskPriorityGet must be defined as 1 for this function to be available.
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391 * See the configuration section for more information.
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393 * Obtain the priority of any task.
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395 * @param pxTask Handle of the task to be queried. Passing a NULL
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396 * handle results in the priority of the calling task being returned.
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398 * @return The priority of pxTask.
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402 void vAFunction( void )
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404 xTaskHandle xHandle;
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406 // Create a task, storing the handle.
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407 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
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411 // Use the handle to obtain the priority of the created task.
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412 // It was created with tskIDLE_PRIORITY, but may have changed
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414 if( uxTaskPriorityGet( xHandle ) != tskIDLE_PRIORITY )
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416 // The task has changed it's priority.
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421 // Is our priority higher than the created task?
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422 if( uxTaskPriorityGet( xHandle ) < uxTaskPriorityGet( NULL ) )
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424 // Our priority (obtained using NULL handle) is higher.
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428 * \defgroup uxTaskPriorityGet uxTaskPriorityGet
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429 * \ingroup TaskCtrl
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431 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask );
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435 * <pre>void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority );</pre>
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437 * INCLUDE_vTaskPrioritySet must be defined as 1 for this function to be available.
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438 * See the configuration section for more information.
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440 * Set the priority of any task.
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442 * A context switch will occur before the function returns if the priority
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443 * being set is higher than the currently executing task.
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445 * @param pxTask Handle to the task for which the priority is being set.
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446 * Passing a NULL handle results in the priority of the calling task being set.
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448 * @param uxNewPriority The priority to which the task will be set.
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452 void vAFunction( void )
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454 xTaskHandle xHandle;
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456 // Create a task, storing the handle.
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457 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
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461 // Use the handle to raise the priority of the created task.
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462 vTaskPrioritySet( xHandle, tskIDLE_PRIORITY + 1 );
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466 // Use a NULL handle to raise our priority to the same value.
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467 vTaskPrioritySet( NULL, tskIDLE_PRIORITY + 1 );
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470 * \defgroup vTaskPrioritySet vTaskPrioritySet
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471 * \ingroup TaskCtrl
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473 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority );
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477 * <pre>void vTaskSuspend( xTaskHandle pxTaskToSuspend );</pre>
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479 * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available.
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480 * See the configuration section for more information.
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482 * Suspend any task. When suspended a task will never get any microcontroller
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483 * processing time, no matter what its priority.
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485 * Calls to vTaskSuspend are not accumulative -
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486 * i.e. calling vTaskSuspend () twice on the same task still only requires one
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487 * call to vTaskResume () to ready the suspended task.
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489 * @param pxTaskToSuspend Handle to the task being suspended. Passing a NULL
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490 * handle will cause the calling task to be suspended.
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494 void vAFunction( void )
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496 xTaskHandle xHandle;
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498 // Create a task, storing the handle.
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499 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
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503 // Use the handle to suspend the created task.
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504 vTaskSuspend( xHandle );
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508 // The created task will not run during this period, unless
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509 // another task calls vTaskResume( xHandle ).
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514 // Suspend ourselves.
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515 vTaskSuspend( NULL );
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517 // We cannot get here unless another task calls vTaskResume
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518 // with our handle as the parameter.
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521 * \defgroup vTaskSuspend vTaskSuspend
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522 * \ingroup TaskCtrl
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524 void vTaskSuspend( xTaskHandle pxTaskToSuspend );
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528 * <pre>void vTaskResume( xTaskHandle pxTaskToResume );</pre>
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530 * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available.
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531 * See the configuration section for more information.
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533 * Resumes a suspended task.
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535 * A task that has been suspended by one of more calls to vTaskSuspend ()
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536 * will be made available for running again by a single call to
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539 * @param pxTaskToResume Handle to the task being readied.
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543 void vAFunction( void )
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545 xTaskHandle xHandle;
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547 // Create a task, storing the handle.
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548 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
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552 // Use the handle to suspend the created task.
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553 vTaskSuspend( xHandle );
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557 // The created task will not run during this period, unless
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558 // another task calls vTaskResume( xHandle ).
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563 // Resume the suspended task ourselves.
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564 vTaskResume( xHandle );
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566 // The created task will once again get microcontroller processing
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567 // time in accordance with it priority within the system.
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570 * \defgroup vTaskResume vTaskResume
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571 * \ingroup TaskCtrl
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573 void vTaskResume( xTaskHandle pxTaskToResume );
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577 * <pre>void xTaskResumeFromISR( xTaskHandle pxTaskToResume );</pre>
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579 * INCLUDE_xTaskResumeFromISR must be defined as 1 for this function to be
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580 * available. See the configuration section for more information.
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582 * An implementation of vTaskResume() that can be called from within an ISR.
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584 * A task that has been suspended by one of more calls to vTaskSuspend ()
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585 * will be made available for running again by a single call to
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586 * xTaskResumeFromISR ().
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588 * @param pxTaskToResume Handle to the task being readied.
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590 * \defgroup vTaskResumeFromISR vTaskResumeFromISR
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591 * \ingroup TaskCtrl
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593 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume );
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595 /*-----------------------------------------------------------
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596 * SCHEDULER CONTROL
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597 *----------------------------------------------------------*/
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601 * <pre>void vTaskStartScheduler( void );</pre>
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603 * Starts the real time kernel tick processing. After calling the kernel
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604 * has control over which tasks are executed and when. This function
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605 * does not return until an executing task calls vTaskEndScheduler ().
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607 * At least one task should be created via a call to xTaskCreate ()
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608 * before calling vTaskStartScheduler (). The idle task is created
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609 * automatically when the first application task is created.
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611 * See the demo application file main.c for an example of creating
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612 * tasks and starting the kernel.
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616 void vAFunction( void )
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618 // Create at least one task before starting the kernel.
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619 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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621 // Start the real time kernel with preemption.
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622 vTaskStartScheduler ();
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624 // Will not get here unless a task calls vTaskEndScheduler ()
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628 * \defgroup vTaskStartScheduler vTaskStartScheduler
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629 * \ingroup SchedulerControl
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631 void vTaskStartScheduler( void );
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635 * <pre>void vTaskEndScheduler( void );</pre>
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637 * Stops the real time kernel tick. All created tasks will be automatically
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638 * deleted and multitasking (either preemptive or cooperative) will
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639 * stop. Execution then resumes from the point where vTaskStartScheduler ()
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640 * was called, as if vTaskStartScheduler () had just returned.
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642 * See the demo application file main. c in the demo/PC directory for an
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643 * example that uses vTaskEndScheduler ().
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645 * vTaskEndScheduler () requires an exit function to be defined within the
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646 * portable layer (see vPortEndScheduler () in port. c for the PC port). This
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647 * performs hardware specific operations such as stopping the kernel tick.
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649 * vTaskEndScheduler () will cause all of the resources allocated by the
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650 * kernel to be freed - but will not free resources allocated by application
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655 void vTaskCode( void * pvParameters )
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659 // Task code goes here.
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661 // At some point we want to end the real time kernel processing
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663 vTaskEndScheduler ();
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667 void vAFunction( void )
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669 // Create at least one task before starting the kernel.
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670 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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672 // Start the real time kernel with preemption.
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673 vTaskStartScheduler ();
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675 // Will only get here when the vTaskCode () task has called
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676 // vTaskEndScheduler (). When we get here we are back to single task
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681 * \defgroup vTaskEndScheduler vTaskEndScheduler
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682 * \ingroup SchedulerControl
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684 void vTaskEndScheduler( void );
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688 * <pre>void vTaskSuspendAll( void );</pre>
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690 * Suspends all real time kernel activity while keeping interrupts (including the
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691 * kernel tick) enabled.
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693 * After calling vTaskSuspendAll () the calling task will continue to execute
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694 * without risk of being swapped out until a call to xTaskResumeAll () has been
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699 void vTask1( void * pvParameters )
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703 // Task code goes here.
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707 // At some point the task wants to perform a long operation during
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708 // which it does not want to get swapped out. It cannot use
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709 // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
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710 // operation may cause interrupts to be missed - including the
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713 // Prevent the real time kernel swapping out the task.
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714 vTaskSuspendAll ();
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716 // Perform the operation here. There is no need to use critical
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717 // sections as we have all the microcontroller processing time.
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718 // During this time interrupts will still operate and the kernel
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719 // tick count will be maintained.
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723 // The operation is complete. Restart the kernel.
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728 * \defgroup vTaskSuspendAll vTaskSuspendAll
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729 * \ingroup SchedulerControl
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731 void vTaskSuspendAll( void );
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735 * <pre>portCHAR xTaskResumeAll( void );</pre>
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737 * Resumes real time kernel activity following a call to vTaskSuspendAll ().
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738 * After a call to vTaskSuspendAll () the kernel will take control of which
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739 * task is executing at any time.
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741 * @return If resuming the scheduler caused a context switch then pdTRUE is
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742 * returned, otherwise pdFALSE is returned.
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746 void vTask1( void * pvParameters )
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750 // Task code goes here.
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754 // At some point the task wants to perform a long operation during
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755 // which it does not want to get swapped out. It cannot use
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756 // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
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757 // operation may cause interrupts to be missed - including the
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760 // Prevent the real time kernel swapping out the task.
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761 vTaskSuspendAll ();
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763 // Perform the operation here. There is no need to use critical
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764 // sections as we have all the microcontroller processing time.
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765 // During this time interrupts will still operate and the real
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766 // time kernel tick count will be maintained.
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770 // The operation is complete. Restart the kernel. We want to force
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771 // a context switch - but there is no point if resuming the scheduler
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772 // caused a context switch already.
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773 if( !xTaskResumeAll () )
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780 * \defgroup xTaskResumeAll xTaskResumeAll
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781 * \ingroup SchedulerControl
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783 signed portBASE_TYPE xTaskResumeAll( void );
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786 /*-----------------------------------------------------------
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788 *----------------------------------------------------------*/
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792 * <PRE>volatile portTickType xTaskGetTickCount( void );</PRE>
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794 * @return The count of ticks since vTaskStartScheduler was called.
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796 * \page xTaskGetTickCount xTaskGetTickCount
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797 * \ingroup TaskUtils
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799 portTickType xTaskGetTickCount( void );
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803 * <PRE>unsigned portSHORT uxTaskGetNumberOfTasks( void );</PRE>
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805 * @return The number of tasks that the real time kernel is currently managing.
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806 * This includes all ready, blocked and suspended tasks. A task that
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807 * has been deleted but not yet freed by the idle task will also be
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808 * included in the count.
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810 * \page uxTaskGetNumberOfTasks uxTaskGetNumberOfTasks
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811 * \ingroup TaskUtils
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813 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void );
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817 * <PRE>void vTaskList( portCHAR *pcWriteBuffer );</PRE>
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819 * configUSE_TRACE_FACILITY, INCLUDE_vTaskDelete and INCLUDE_vTaskSuspend
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820 * must all be defined as 1 for this function to be available.
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821 * See the configuration section for more information.
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823 * NOTE: This function will disable interrupts for its duration. It is
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824 * not intended for normal application runtime use but as a debug aid.
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826 * Lists all the current tasks, along with their current state and stack
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827 * usage high water mark.
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829 * Tasks are reported as blocked ('B'), ready ('R'), deleted ('D') or
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832 * @param pcWriteBuffer A buffer into which the above mentioned details
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833 * will be written, in ascii form. This buffer is assumed to be large
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834 * enough to contain the generated report. Approximately 40 bytes per
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835 * task should be sufficient.
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837 * \page vTaskList vTaskList
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838 * \ingroup TaskUtils
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840 void vTaskList( signed portCHAR *pcWriteBuffer );
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844 * <PRE>void vTaskStartTrace( portCHAR * pcBuffer, unsigned portBASE_TYPE uxBufferSize );</PRE>
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846 * Starts a real time kernel activity trace. The trace logs the identity of
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847 * which task is running when.
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849 * The trace file is stored in binary format. A separate DOS utility called
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850 * convtrce.exe is used to convert this into a tab delimited text file which
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851 * can be viewed and plotted in a spread sheet.
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853 * @param pcBuffer The buffer into which the trace will be written.
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855 * @param ulBufferSize The size of pcBuffer in bytes. The trace will continue
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856 * until either the buffer in full, or ulTaskEndTrace () is called.
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858 * \page vTaskStartTrace vTaskStartTrace
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859 * \ingroup TaskUtils
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861 void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize );
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865 * <PRE>unsigned portLONG ulTaskEndTrace( void );</PRE>
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867 * Stops a kernel activity trace. See vTaskStartTrace ().
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869 * @return The number of bytes that have been written into the trace buffer.
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871 * \page usTaskEndTrace usTaskEndTrace
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872 * \ingroup TaskUtils
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874 unsigned portLONG ulTaskEndTrace( void );
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878 * <PRE>unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask );</PRE>
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880 * INCLUDE_uxTaskGetStackHighWaterMark must be set to 1 in FreeRTOSConfig.h for
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881 * this function to be available.
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883 * Returns the high water mark of the stack associated with xTask. That is,
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884 * the minimum free stack space there has been (in bytes) since the task
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885 * started. The smaller the returned number the closer the task has come
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886 * to overflowing its stack.
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888 * @param xTask Handle of the task associated with the stack to be checked.
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889 * Set xTask to NULL to check the stack of the calling task.
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891 * @return The smallest amount of free stack space there has been (in bytes)
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892 * since the task referenced by xTask was created.
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894 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask );
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898 * <pre>void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction );</pre>
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900 * Sets pxHookFunction to be the task hook function used by the task xTask.
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901 * Passing xTask as NULL has the effect of setting the calling tasks hook
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904 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction );
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908 * <pre>portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction );</pre>
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910 * Calls the hook function associated with xTask. Passing xTask as NULL has
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911 * the effect of calling the Running tasks (the calling task) hook function.
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913 * pvParameter is passed to the hook function for the task to interpret as it
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916 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter );
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919 /*-----------------------------------------------------------
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920 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
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921 *----------------------------------------------------------*/
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924 * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY
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925 * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS
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926 * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
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928 * Called from the real time kernel tick (either preemptive or cooperative),
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929 * this increments the tick count and checks if any tasks that are blocked
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930 * for a finite period required removing from a blocked list and placing on
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933 inline void vTaskIncrementTick( void );
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936 * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN
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937 * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
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939 * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED.
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941 * Removes the calling task from the ready list and places it both
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942 * on the list of tasks waiting for a particular event, and the
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943 * list of delayed tasks. The task will be removed from both lists
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944 * and replaced on the ready list should either the event occur (and
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945 * there be no higher priority tasks waiting on the same event) or
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946 * the delay period expires.
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948 * @param pxEventList The list containing tasks that are blocked waiting
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949 * for the event to occur.
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951 * @param xTicksToWait The maximum amount of time that the task should wait
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952 * for the event to occur. This is specified in kernel ticks,the constant
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953 * portTICK_RATE_MS can be used to convert kernel ticks into a real time
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956 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait );
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959 * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN
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960 * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
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962 * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED.
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964 * Removes a task from both the specified event list and the list of blocked
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965 * tasks, and places it on a ready queue.
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967 * xTaskRemoveFromEventList () will be called if either an event occurs to
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968 * unblock a task, or the block timeout period expires.
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970 * @return pdTRUE if the task being removed has a higher priority than the task
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971 * making the call, otherwise pdFALSE.
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973 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList );
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976 * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN
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977 * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
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979 * INCLUDE_vTaskCleanUpResources and INCLUDE_vTaskSuspend must be defined as 1
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980 * for this function to be available.
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981 * See the configuration section for more information.
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983 * Empties the ready and delayed queues of task control blocks, freeing the
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984 * memory allocated for the task control block and task stacks as it goes.
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986 void vTaskCleanUpResources( void );
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989 * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY
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990 * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS
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991 * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
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993 * Sets the pointer to the current TCB to the TCB of the highest priority task
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994 * that is ready to run.
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996 inline void vTaskSwitchContext( void );
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999 * Return the handle of the calling task.
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1001 xTaskHandle xTaskGetCurrentTaskHandle( void );
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1004 * Capture the current time status for future reference.
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1006 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut );
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1009 * Compare the time status now with that previously captured to see if the
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1010 * timeout has expired.
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1012 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait );
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1015 * Shortcut used by the queue implementation to prevent unnecessary call to
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1018 void vTaskMissedYield( void );
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1021 * Returns the scheduler state as taskSCHEDULER_RUNNING,
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1022 * taskSCHEDULER_NOT_STARTED or taskSCHEDULER_SUSPENDED.
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1024 portBASE_TYPE xTaskGetSchedulerState( void );
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1027 * Raises the priority of the mutex holder to that of the calling task should
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1028 * the mutex holder have a priority less than the calling task.
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1030 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder );
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1033 * Set the priority of a task back to its proper priority in the case that it
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1034 * inherited a higher priority while it was holding a semaphore.
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1036 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder );
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1038 #ifdef __cplusplus
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1041 #endif /* TASK_H */
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