2 FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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4 ***************************************************************************
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8 * + New to FreeRTOS, *
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10 * + Looking for basic training, *
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11 * + Wanting to improve your FreeRTOS skills and productivity *
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13 * then take a look at the FreeRTOS books - available as PDF or paperback *
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15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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16 * http://www.FreeRTOS.org/Documentation *
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18 * A pdf reference manual is also available. Both are usually delivered *
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19 * to your inbox within 20 minutes to two hours when purchased between 8am *
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20 * and 8pm GMT (although please allow up to 24 hours in case of *
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21 * exceptional circumstances). Thank you for your support! *
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23 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 ***NOTE*** The exception to the GPL is included to allow you to distribute
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31 a combined work that includes FreeRTOS without being obliged to provide the
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32 source code for proprietary components outside of the FreeRTOS kernel.
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33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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35 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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59 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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60 all the API functions to use the MPU wrappers. That should only be done when
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61 task.h is included from an application file. */
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62 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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64 #include "FreeRTOS.h"
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66 #include "StackMacros.h"
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68 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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71 * Macro to define the amount of stack available to the idle task.
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73 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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76 * Task control block. A task control block (TCB) is allocated to each task,
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77 * and stores the context of the task.
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79 typedef struct tskTaskControlBlock
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81 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 STRUCT. */
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83 #if ( portUSING_MPU_WRAPPERS == 1 )
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84 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE STRUCT. */
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87 xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
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88 xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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89 unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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90 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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91 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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93 #if ( portSTACK_GROWTH > 0 )
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94 portSTACK_TYPE *pxEndOfStack; /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
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97 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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98 unsigned portBASE_TYPE uxCriticalNesting;
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101 #if ( configUSE_TRACE_FACILITY == 1 )
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102 unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
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105 #if ( configUSE_MUTEXES == 1 )
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106 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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109 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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110 pdTASK_HOOK_CODE pxTaskTag;
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113 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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114 unsigned long ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
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121 * Some kernel aware debuggers require data to be viewed to be global, rather
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124 #ifdef portREMOVE_STATIC_QUALIFIER
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129 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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131 /* Lists for ready and blocked tasks. --------------------*/
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133 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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134 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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135 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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136 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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137 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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138 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */
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140 #if ( INCLUDE_vTaskDelete == 1 )
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142 PRIVILEGED_DATA static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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143 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
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147 #if ( INCLUDE_vTaskSuspend == 1 )
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149 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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153 /* File private variables. --------------------------------*/
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154 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
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155 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0;
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156 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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157 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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158 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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159 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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160 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
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161 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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162 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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163 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0;
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165 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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167 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
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168 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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169 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
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173 /* Debugging and trace facilities private variables and macros. ------------*/
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176 * The value used to fill the stack of a task when the task is created. This
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177 * is used purely for checking the high water mark for tasks.
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179 #define tskSTACK_FILL_BYTE ( 0xa5 )
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182 * Macros used by vListTask to indicate which state a task is in.
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184 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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185 #define tskREADY_CHAR ( ( signed char ) 'R' )
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186 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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187 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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190 * Macros and private variables used by the trace facility.
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192 #if ( configUSE_TRACE_FACILITY == 1 )
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194 #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned long ) ( sizeof( unsigned long ) + sizeof( unsigned long ) ) )
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195 PRIVILEGED_DATA static volatile signed char * volatile pcTraceBuffer;
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196 PRIVILEGED_DATA static signed char *pcTraceBufferStart;
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197 PRIVILEGED_DATA static signed char *pcTraceBufferEnd;
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198 PRIVILEGED_DATA static signed portBASE_TYPE xTracing = pdFALSE;
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199 static unsigned portBASE_TYPE uxPreviousTask = 255;
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200 PRIVILEGED_DATA static char pcStatusString[ 50 ];
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204 /*-----------------------------------------------------------*/
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207 * Macro that writes a trace of scheduler activity to a buffer. This trace
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208 * shows which task is running when and is very useful as a debugging tool.
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209 * As this macro is called each context switch it is a good idea to undefine
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210 * it if not using the facility.
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212 #if ( configUSE_TRACE_FACILITY == 1 )
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214 #define vWriteTraceToBuffer() \
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218 if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
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220 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
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222 uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
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223 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) xTickCount; \
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224 pcTraceBuffer += sizeof( unsigned long ); \
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225 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) uxPreviousTask; \
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226 pcTraceBuffer += sizeof( unsigned long ); \
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230 xTracing = pdFALSE; \
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238 #define vWriteTraceToBuffer()
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241 /*-----------------------------------------------------------*/
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244 * Place the task represented by pxTCB into the appropriate ready queue for
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245 * the task. It is inserted at the end of the list. One quirk of this is
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246 * that if the task being inserted is at the same priority as the currently
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247 * executing task, then it will only be rescheduled after the currently
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248 * executing task has been rescheduled.
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250 #define prvAddTaskToReadyQueue( pxTCB ) \
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252 if( pxTCB->uxPriority > uxTopReadyPriority ) \
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254 uxTopReadyPriority = pxTCB->uxPriority; \
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256 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \
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258 /*-----------------------------------------------------------*/
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261 * Macro that looks at the list of tasks that are currently delayed to see if
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262 * any require waking.
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264 * Tasks are stored in the queue in the order of their wake time - meaning
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265 * once one tasks has been found whose timer has not expired we need not look
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266 * any further down the list.
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268 #define prvCheckDelayedTasks() \
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270 register tskTCB *pxTCB; \
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272 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \
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274 if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \
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278 vListRemove( &( pxTCB->xGenericListItem ) ); \
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279 /* Is the task waiting on an event also? */ \
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280 if( pxTCB->xEventListItem.pvContainer ) \
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282 vListRemove( &( pxTCB->xEventListItem ) ); \
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284 prvAddTaskToReadyQueue( pxTCB ); \
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287 /*-----------------------------------------------------------*/
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290 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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291 * where NULL is used to indicate that the handle of the currently executing
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292 * task should be used in place of the parameter. This macro simply checks to
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293 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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295 #define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )
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298 /* File private functions. --------------------------------*/
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301 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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302 * into the TCB structure.
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304 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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307 * Utility to ready all the lists used by the scheduler. This is called
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308 * automatically upon the creation of the first task.
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310 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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313 * The idle task, which as all tasks is implemented as a never ending loop.
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314 * The idle task is automatically created and added to the ready lists upon
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315 * creation of the first user task.
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317 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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318 * language extensions. The equivalent prototype for this function is:
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320 * void prvIdleTask( void *pvParameters );
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323 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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326 * Utility to free all memory allocated by the scheduler to hold a TCB,
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327 * including the stack pointed to by the TCB.
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329 * This does not free memory allocated by the task itself (i.e. memory
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330 * allocated by calls to pvPortMalloc from within the tasks application code).
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332 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
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334 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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339 * Used only by the idle task. This checks to see if anything has been placed
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340 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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341 * and its TCB deleted.
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343 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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346 * Allocates memory from the heap for a TCB and associated stack. Checks the
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347 * allocation was successful.
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349 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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352 * Called from vTaskList. vListTasks details all the tasks currently under
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353 * control of the scheduler. The tasks may be in one of a number of lists.
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354 * prvListTaskWithinSingleList accepts a list and details the tasks from
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355 * within just that list.
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357 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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358 * NORMAL APPLICATION CODE.
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360 #if ( configUSE_TRACE_FACILITY == 1 )
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362 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
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367 * When a task is created, the stack of the task is filled with a known value.
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368 * This function determines the 'high water mark' of the task stack by
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369 * determining how much of the stack remains at the original preset value.
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371 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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373 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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382 /*-----------------------------------------------------------
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383 * TASK CREATION API documented in task.h
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384 *----------------------------------------------------------*/
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386 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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388 signed portBASE_TYPE xReturn;
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391 /* Allocate the memory required by the TCB and stack for the new task,
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392 checking that the allocation was successful. */
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393 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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395 if( pxNewTCB != NULL )
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397 portSTACK_TYPE *pxTopOfStack;
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399 #if( portUSING_MPU_WRAPPERS == 1 )
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400 /* Should the task be created in privileged mode? */
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401 portBASE_TYPE xRunPrivileged;
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402 if( ( uxPriority & portPRIVILEGE_BIT ) != 0x00 )
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404 xRunPrivileged = pdTRUE;
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408 xRunPrivileged = pdFALSE;
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410 uxPriority &= ~portPRIVILEGE_BIT;
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411 #endif /* portUSING_MPU_WRAPPERS == 1 */
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413 /* Calculate the top of stack address. This depends on whether the
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414 stack grows from high memory to low (as per the 80x86) or visa versa.
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415 portSTACK_GROWTH is used to make the result positive or negative as
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416 required by the port. */
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417 #if( portSTACK_GROWTH < 0 )
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419 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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420 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( unsigned long ) pxTopOfStack ) & ( ( unsigned long ) ~portBYTE_ALIGNMENT_MASK ) );
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424 pxTopOfStack = pxNewTCB->pxStack;
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426 /* If we want to use stack checking on architectures that use
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427 a positive stack growth direction then we also need to store the
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428 other extreme of the stack space. */
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429 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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433 /* Setup the newly allocated TCB with the initial state of the task. */
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434 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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436 /* Initialize the TCB stack to look as if the task was already running,
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437 but had been interrupted by the scheduler. The return address is set
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438 to the start of the task function. Once the stack has been initialised
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439 the top of stack variable is updated. */
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440 #if( portUSING_MPU_WRAPPERS == 1 )
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442 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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446 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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450 if( ( void * ) pxCreatedTask != NULL )
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452 /* Pass the TCB out - in an anonymous way. The calling function/
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453 task can use this as a handle to delete the task later if
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455 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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458 /* We are going to manipulate the task queues to add this task to a
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459 ready list, so must make sure no interrupts occur. */
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460 portENTER_CRITICAL();
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462 uxCurrentNumberOfTasks++;
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463 if( pxCurrentTCB == NULL )
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465 /* There are no other tasks, or all the other tasks are in
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466 the suspended state - make this the current task. */
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467 pxCurrentTCB = pxNewTCB;
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469 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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471 /* This is the first task to be created so do the preliminary
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472 initialisation required. We will not recover if this call
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473 fails, but we will report the failure. */
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474 prvInitialiseTaskLists();
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479 /* If the scheduler is not already running, make this task the
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480 current task if it is the highest priority task to be created
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482 if( xSchedulerRunning == pdFALSE )
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484 if( pxCurrentTCB->uxPriority <= uxPriority )
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486 pxCurrentTCB = pxNewTCB;
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491 /* Remember the top priority to make context switching faster. Use
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492 the priority in pxNewTCB as this has been capped to a valid value. */
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493 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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495 uxTopUsedPriority = pxNewTCB->uxPriority;
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498 #if ( configUSE_TRACE_FACILITY == 1 )
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500 /* Add a counter into the TCB for tracing only. */
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501 pxNewTCB->uxTCBNumber = uxTaskNumber;
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506 prvAddTaskToReadyQueue( pxNewTCB );
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509 traceTASK_CREATE( pxNewTCB );
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511 portEXIT_CRITICAL();
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515 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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516 traceTASK_CREATE_FAILED();
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519 if( xReturn == pdPASS )
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521 if( xSchedulerRunning != pdFALSE )
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523 /* If the created task is of a higher priority than the current task
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524 then it should run now. */
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525 if( pxCurrentTCB->uxPriority < uxPriority )
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527 portYIELD_WITHIN_API();
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534 /*-----------------------------------------------------------*/
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536 #if ( INCLUDE_vTaskDelete == 1 )
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538 void vTaskDelete( xTaskHandle pxTaskToDelete )
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542 portENTER_CRITICAL();
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544 /* Ensure a yield is performed if the current task is being
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546 if( pxTaskToDelete == pxCurrentTCB )
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548 pxTaskToDelete = NULL;
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551 /* If null is passed in here then we are deleting ourselves. */
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552 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
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554 /* Remove task from the ready list and place in the termination list.
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555 This will stop the task from be scheduled. The idle task will check
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556 the termination list and free up any memory allocated by the
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557 scheduler for the TCB and stack. */
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558 vListRemove( &( pxTCB->xGenericListItem ) );
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560 /* Is the task waiting on an event also? */
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561 if( pxTCB->xEventListItem.pvContainer )
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563 vListRemove( &( pxTCB->xEventListItem ) );
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566 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
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568 /* Increment the ucTasksDeleted variable so the idle task knows
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569 there is a task that has been deleted and that it should therefore
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570 check the xTasksWaitingTermination list. */
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573 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
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574 can detect that the task lists need re-generating. */
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577 traceTASK_DELETE( pxTCB );
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579 portEXIT_CRITICAL();
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581 /* Force a reschedule if we have just deleted the current task. */
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582 if( xSchedulerRunning != pdFALSE )
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584 if( ( void * ) pxTaskToDelete == NULL )
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586 portYIELD_WITHIN_API();
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598 /*-----------------------------------------------------------
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599 * TASK CONTROL API documented in task.h
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600 *----------------------------------------------------------*/
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602 #if ( INCLUDE_vTaskDelayUntil == 1 )
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604 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
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606 portTickType xTimeToWake;
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607 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
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611 /* Generate the tick time at which the task wants to wake. */
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612 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
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614 if( xTickCount < *pxPreviousWakeTime )
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616 /* The tick count has overflowed since this function was
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617 lasted called. In this case the only time we should ever
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618 actually delay is if the wake time has also overflowed,
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619 and the wake time is greater than the tick time. When this
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620 is the case it is as if neither time had overflowed. */
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621 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
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623 xShouldDelay = pdTRUE;
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628 /* The tick time has not overflowed. In this case we will
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629 delay if either the wake time has overflowed, and/or the
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630 tick time is less than the wake time. */
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631 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
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633 xShouldDelay = pdTRUE;
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637 /* Update the wake time ready for the next call. */
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638 *pxPreviousWakeTime = xTimeToWake;
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642 traceTASK_DELAY_UNTIL();
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644 /* We must remove ourselves from the ready list before adding
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645 ourselves to the blocked list as the same list item is used for
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647 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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649 /* The list item will be inserted in wake time order. */
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650 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
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652 if( xTimeToWake < xTickCount )
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654 /* Wake time has overflowed. Place this item in the
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656 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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660 /* The wake time has not overflowed, so we can use the
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661 current block list. */
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662 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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666 xAlreadyYielded = xTaskResumeAll();
\r
668 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
669 have put ourselves to sleep. */
\r
670 if( !xAlreadyYielded )
\r
672 portYIELD_WITHIN_API();
\r
677 /*-----------------------------------------------------------*/
\r
679 #if ( INCLUDE_vTaskDelay == 1 )
\r
681 void vTaskDelay( portTickType xTicksToDelay )
\r
683 portTickType xTimeToWake;
\r
684 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
686 /* A delay time of zero just forces a reschedule. */
\r
687 if( xTicksToDelay > ( portTickType ) 0 )
\r
693 /* A task that is removed from the event list while the
\r
694 scheduler is suspended will not get placed in the ready
\r
695 list or removed from the blocked list until the scheduler
\r
698 This task cannot be in an event list as it is the currently
\r
701 /* Calculate the time to wake - this may overflow but this is
\r
703 xTimeToWake = xTickCount + xTicksToDelay;
\r
705 /* We must remove ourselves from the ready list before adding
\r
706 ourselves to the blocked list as the same list item is used for
\r
708 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
710 /* The list item will be inserted in wake time order. */
\r
711 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
713 if( xTimeToWake < xTickCount )
\r
715 /* Wake time has overflowed. Place this item in the
\r
717 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
721 /* The wake time has not overflowed, so we can use the
\r
722 current block list. */
\r
723 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
726 xAlreadyYielded = xTaskResumeAll();
\r
729 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
730 have put ourselves to sleep. */
\r
731 if( !xAlreadyYielded )
\r
733 portYIELD_WITHIN_API();
\r
738 /*-----------------------------------------------------------*/
\r
740 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
742 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
745 unsigned portBASE_TYPE uxReturn;
\r
747 portENTER_CRITICAL();
\r
749 /* If null is passed in here then we are changing the
\r
750 priority of the calling function. */
\r
751 pxTCB = prvGetTCBFromHandle( pxTask );
\r
752 uxReturn = pxTCB->uxPriority;
\r
754 portEXIT_CRITICAL();
\r
760 /*-----------------------------------------------------------*/
\r
762 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
764 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
767 unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
\r
769 /* Ensure the new priority is valid. */
\r
770 if( uxNewPriority >= configMAX_PRIORITIES )
\r
772 uxNewPriority = configMAX_PRIORITIES - 1;
\r
775 portENTER_CRITICAL();
\r
777 if( pxTask == pxCurrentTCB )
\r
782 /* If null is passed in here then we are changing the
\r
783 priority of the calling function. */
\r
784 pxTCB = prvGetTCBFromHandle( pxTask );
\r
786 traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
\r
788 #if ( configUSE_MUTEXES == 1 )
\r
790 uxCurrentPriority = pxTCB->uxBasePriority;
\r
794 uxCurrentPriority = pxTCB->uxPriority;
\r
798 if( uxCurrentPriority != uxNewPriority )
\r
800 /* The priority change may have readied a task of higher
\r
801 priority than the calling task. */
\r
802 if( uxNewPriority > uxCurrentPriority )
\r
804 if( pxTask != NULL )
\r
806 /* The priority of another task is being raised. If we
\r
807 were raising the priority of the currently running task
\r
808 there would be no need to switch as it must have already
\r
809 been the highest priority task. */
\r
810 xYieldRequired = pdTRUE;
\r
813 else if( pxTask == NULL )
\r
815 /* Setting our own priority down means there may now be another
\r
816 task of higher priority that is ready to execute. */
\r
817 xYieldRequired = pdTRUE;
\r
822 #if ( configUSE_MUTEXES == 1 )
\r
824 /* Only change the priority being used if the task is not
\r
825 currently using an inherited priority. */
\r
826 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
828 pxTCB->uxPriority = uxNewPriority;
\r
831 /* The base priority gets set whatever. */
\r
832 pxTCB->uxBasePriority = uxNewPriority;
\r
836 pxTCB->uxPriority = uxNewPriority;
\r
840 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
842 /* If the task is in the blocked or suspended list we need do
\r
843 nothing more than change it's priority variable. However, if
\r
844 the task is in a ready list it needs to be removed and placed
\r
845 in the queue appropriate to its new priority. */
\r
846 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
848 /* The task is currently in its ready list - remove before adding
\r
849 it to it's new ready list. As we are in a critical section we
\r
850 can do this even if the scheduler is suspended. */
\r
851 vListRemove( &( pxTCB->xGenericListItem ) );
\r
852 prvAddTaskToReadyQueue( pxTCB );
\r
855 if( xYieldRequired == pdTRUE )
\r
857 portYIELD_WITHIN_API();
\r
861 portEXIT_CRITICAL();
\r
865 /*-----------------------------------------------------------*/
\r
867 #if ( INCLUDE_vTaskSuspend == 1 )
\r
869 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
873 portENTER_CRITICAL();
\r
875 /* Ensure a yield is performed if the current task is being
\r
877 if( pxTaskToSuspend == pxCurrentTCB )
\r
879 pxTaskToSuspend = NULL;
\r
882 /* If null is passed in here then we are suspending ourselves. */
\r
883 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
885 traceTASK_SUSPEND( pxTCB );
\r
887 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
888 vListRemove( &( pxTCB->xGenericListItem ) );
\r
890 /* Is the task waiting on an event also? */
\r
891 if( pxTCB->xEventListItem.pvContainer )
\r
893 vListRemove( &( pxTCB->xEventListItem ) );
\r
896 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
898 portEXIT_CRITICAL();
\r
900 if( ( void * ) pxTaskToSuspend == NULL )
\r
902 if( xSchedulerRunning != pdFALSE )
\r
904 /* We have just suspended the current task. */
\r
905 portYIELD_WITHIN_API();
\r
909 /* The scheduler is not running, but the task that was pointed
\r
910 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
911 must be adjusted to point to a different task. */
\r
912 if( uxCurrentNumberOfTasks == 1 )
\r
914 /* No other tasks are defined, so set pxCurrentTCB back to
\r
915 NULL so when the next task is created pxCurrentTCB will
\r
916 be set to point to it no matter what its relative priority
\r
918 pxCurrentTCB = NULL;
\r
922 vTaskSwitchContext();
\r
929 /*-----------------------------------------------------------*/
\r
931 #if ( INCLUDE_vTaskSuspend == 1 )
\r
933 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
935 portBASE_TYPE xReturn = pdFALSE;
\r
936 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
938 /* Is the task we are attempting to resume actually in the
\r
940 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
942 /* Has the task already been resumed from within an ISR? */
\r
943 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
945 /* Is it in the suspended list because it is in the
\r
946 Suspended state? It is possible to be in the suspended
\r
947 list because it is blocked on a task with no timeout
\r
949 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
960 /*-----------------------------------------------------------*/
\r
962 #if ( INCLUDE_vTaskSuspend == 1 )
\r
964 void vTaskResume( xTaskHandle pxTaskToResume )
\r
968 /* Remove the task from whichever list it is currently in, and place
\r
969 it in the ready list. */
\r
970 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
972 /* The parameter cannot be NULL as it is impossible to resume the
\r
973 currently executing task. */
\r
974 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
976 portENTER_CRITICAL();
\r
978 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
980 traceTASK_RESUME( pxTCB );
\r
982 /* As we are in a critical section we can access the ready
\r
983 lists even if the scheduler is suspended. */
\r
984 vListRemove( &( pxTCB->xGenericListItem ) );
\r
985 prvAddTaskToReadyQueue( pxTCB );
\r
987 /* We may have just resumed a higher priority task. */
\r
988 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
990 /* This yield may not cause the task just resumed to run, but
\r
991 will leave the lists in the correct state for the next yield. */
\r
992 portYIELD_WITHIN_API();
\r
996 portEXIT_CRITICAL();
\r
1002 /*-----------------------------------------------------------*/
\r
1004 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1006 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
1008 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1011 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1013 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1015 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1017 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1019 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1020 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1021 prvAddTaskToReadyQueue( pxTCB );
\r
1025 /* We cannot access the delayed or ready lists, so will hold this
\r
1026 task pending until the scheduler is resumed, at which point a
\r
1027 yield will be performed if necessary. */
\r
1028 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1032 return xYieldRequired;
\r
1040 /*-----------------------------------------------------------
\r
1041 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1042 *----------------------------------------------------------*/
\r
1045 void vTaskStartScheduler( void )
\r
1047 portBASE_TYPE xReturn;
\r
1049 /* Add the idle task at the lowest priority. */
\r
1050 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), ( xTaskHandle * ) NULL );
\r
1052 if( xReturn == pdPASS )
\r
1054 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1055 before or during the call to xPortStartScheduler(). The stacks of
\r
1056 the created tasks contain a status word with interrupts switched on
\r
1057 so interrupts will automatically get re-enabled when the first task
\r
1060 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1061 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1062 portDISABLE_INTERRUPTS();
\r
1064 xSchedulerRunning = pdTRUE;
\r
1065 xTickCount = ( portTickType ) 0;
\r
1067 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1068 macro must be defined to configure the timer/counter used to generate
\r
1069 the run time counter time base. */
\r
1070 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1072 /* Setting up the timer tick is hardware specific and thus in the
\r
1073 portable interface. */
\r
1074 if( xPortStartScheduler() )
\r
1076 /* Should not reach here as if the scheduler is running the
\r
1077 function will not return. */
\r
1081 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1085 /*-----------------------------------------------------------*/
\r
1087 void vTaskEndScheduler( void )
\r
1089 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1090 routine so the original ISRs can be restored if necessary. The port
\r
1091 layer must ensure interrupts enable bit is left in the correct state. */
\r
1092 portDISABLE_INTERRUPTS();
\r
1093 xSchedulerRunning = pdFALSE;
\r
1094 vPortEndScheduler();
\r
1096 /*----------------------------------------------------------*/
\r
1098 void vTaskSuspendAll( void )
\r
1100 /* A critical section is not required as the variable is of type
\r
1102 ++uxSchedulerSuspended;
\r
1104 /*----------------------------------------------------------*/
\r
1106 signed portBASE_TYPE xTaskResumeAll( void )
\r
1108 register tskTCB *pxTCB;
\r
1109 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1111 /* It is possible that an ISR caused a task to be removed from an event
\r
1112 list while the scheduler was suspended. If this was the case then the
\r
1113 removed task will have been added to the xPendingReadyList. Once the
\r
1114 scheduler has been resumed it is safe to move all the pending ready
\r
1115 tasks from this list into their appropriate ready list. */
\r
1116 portENTER_CRITICAL();
\r
1118 --uxSchedulerSuspended;
\r
1120 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1122 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
\r
1124 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1126 /* Move any readied tasks from the pending list into the
\r
1127 appropriate ready list. */
\r
1128 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL )
\r
1130 vListRemove( &( pxTCB->xEventListItem ) );
\r
1131 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1132 prvAddTaskToReadyQueue( pxTCB );
\r
1134 /* If we have moved a task that has a priority higher than
\r
1135 the current task then we should yield. */
\r
1136 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1138 xYieldRequired = pdTRUE;
\r
1142 /* If any ticks occurred while the scheduler was suspended then
\r
1143 they should be processed now. This ensures the tick count does not
\r
1144 slip, and that any delayed tasks are resumed at the correct time. */
\r
1145 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1147 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1149 vTaskIncrementTick();
\r
1153 /* As we have processed some ticks it is appropriate to yield
\r
1154 to ensure the highest priority task that is ready to run is
\r
1155 the task actually running. */
\r
1156 #if configUSE_PREEMPTION == 1
\r
1158 xYieldRequired = pdTRUE;
\r
1163 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1165 xAlreadyYielded = pdTRUE;
\r
1166 xMissedYield = pdFALSE;
\r
1167 portYIELD_WITHIN_API();
\r
1172 portEXIT_CRITICAL();
\r
1174 return xAlreadyYielded;
\r
1182 /*-----------------------------------------------------------
\r
1183 * PUBLIC TASK UTILITIES documented in task.h
\r
1184 *----------------------------------------------------------*/
\r
1188 portTickType xTaskGetTickCount( void )
\r
1190 portTickType xTicks;
\r
1192 /* Critical section required if running on a 16 bit processor. */
\r
1193 portENTER_CRITICAL();
\r
1195 xTicks = xTickCount;
\r
1197 portEXIT_CRITICAL();
\r
1201 /*-----------------------------------------------------------*/
\r
1203 portTickType xTaskGetTickCountFromISR( void )
\r
1205 return xTickCount;
\r
1207 /*-----------------------------------------------------------*/
\r
1209 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1211 /* A critical section is not required because the variables are of type
\r
1213 return uxCurrentNumberOfTasks;
\r
1215 /*-----------------------------------------------------------*/
\r
1217 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1219 void vTaskList( signed char *pcWriteBuffer )
\r
1221 unsigned portBASE_TYPE uxQueue;
\r
1223 /* This is a VERY costly function that should be used for debug only.
\r
1224 It leaves interrupts disabled for a LONG time. */
\r
1226 vTaskSuspendAll();
\r
1228 /* Run through all the lists that could potentially contain a TCB and
\r
1229 report the task name, state and stack high water mark. */
\r
1231 pcWriteBuffer[ 0 ] = ( signed char ) 0x00;
\r
1232 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1234 uxQueue = uxTopUsedPriority + 1;
\r
1240 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1242 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1244 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1246 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1248 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1251 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1253 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1256 #if( INCLUDE_vTaskDelete == 1 )
\r
1258 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1260 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1265 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1267 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1269 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1278 /*----------------------------------------------------------*/
\r
1280 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1282 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1284 unsigned portBASE_TYPE uxQueue;
\r
1285 unsigned long ulTotalRunTime;
\r
1287 /* This is a VERY costly function that should be used for debug only.
\r
1288 It leaves interrupts disabled for a LONG time. */
\r
1290 vTaskSuspendAll();
\r
1292 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1293 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1295 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1298 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1299 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1300 ulTotalRunTime /= 100UL;
\r
1302 /* Run through all the lists that could potentially contain a TCB,
\r
1303 generating a table of run timer percentages in the provided
\r
1306 pcWriteBuffer[ 0 ] = ( signed char ) 0x00;
\r
1307 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1309 uxQueue = uxTopUsedPriority + 1;
\r
1315 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1317 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
\r
1319 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1321 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1323 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
\r
1326 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1328 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
\r
1331 #if ( INCLUDE_vTaskDelete == 1 )
\r
1333 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1335 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, ulTotalRunTime );
\r
1340 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1342 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1344 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, ulTotalRunTime );
\r
1353 /*----------------------------------------------------------*/
\r
1355 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1357 void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize )
\r
1359 portENTER_CRITICAL();
\r
1361 pcTraceBuffer = ( signed char * )pcBuffer;
\r
1362 pcTraceBufferStart = pcBuffer;
\r
1363 pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
\r
1364 xTracing = pdTRUE;
\r
1366 portEXIT_CRITICAL();
\r
1370 /*----------------------------------------------------------*/
\r
1372 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1374 unsigned long ulTaskEndTrace( void )
\r
1376 unsigned long ulBufferLength;
\r
1378 portENTER_CRITICAL();
\r
1379 xTracing = pdFALSE;
\r
1380 portEXIT_CRITICAL();
\r
1382 ulBufferLength = ( unsigned long ) ( pcTraceBuffer - pcTraceBufferStart );
\r
1384 return ulBufferLength;
\r
1391 /*-----------------------------------------------------------
\r
1392 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1393 * documented in task.h
\r
1394 *----------------------------------------------------------*/
\r
1397 void vTaskIncrementTick( void )
\r
1399 /* Called by the portable layer each time a tick interrupt occurs.
\r
1400 Increments the tick then checks to see if the new tick value will cause any
\r
1401 tasks to be unblocked. */
\r
1402 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1405 if( xTickCount == ( portTickType ) 0 )
\r
1409 /* Tick count has overflowed so we need to swap the delay lists.
\r
1410 If there are any items in pxDelayedTaskList here then there is
\r
1412 pxTemp = pxDelayedTaskList;
\r
1413 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1414 pxOverflowDelayedTaskList = pxTemp;
\r
1415 xNumOfOverflows++;
\r
1418 /* See if this tick has made a timeout expire. */
\r
1419 prvCheckDelayedTasks();
\r
1425 /* The tick hook gets called at regular intervals, even if the
\r
1426 scheduler is locked. */
\r
1427 #if ( configUSE_TICK_HOOK == 1 )
\r
1429 extern void vApplicationTickHook( void );
\r
1431 vApplicationTickHook();
\r
1436 #if ( configUSE_TICK_HOOK == 1 )
\r
1438 extern void vApplicationTickHook( void );
\r
1440 /* Guard against the tick hook being called when the missed tick
\r
1441 count is being unwound (when the scheduler is being unlocked. */
\r
1442 if( uxMissedTicks == 0 )
\r
1444 vApplicationTickHook();
\r
1449 traceTASK_INCREMENT_TICK( xTickCount );
\r
1451 /*-----------------------------------------------------------*/
\r
1453 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1455 void vTaskCleanUpResources( void )
\r
1457 unsigned short usQueue;
\r
1458 volatile tskTCB *pxTCB;
\r
1460 usQueue = ( unsigned short ) uxTopUsedPriority + ( unsigned short ) 1;
\r
1462 /* Remove any TCB's from the ready queues. */
\r
1467 while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
\r
1469 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
\r
1470 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1472 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1474 }while( usQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1476 /* Remove any TCB's from the delayed queue. */
\r
1477 while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
\r
1479 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
\r
1480 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1482 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1485 /* Remove any TCB's from the overflow delayed queue. */
\r
1486 while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
\r
1488 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
\r
1489 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1491 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1494 while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1496 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
\r
1497 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1499 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1504 /*-----------------------------------------------------------*/
\r
1506 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1508 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue )
\r
1512 /* If xTask is NULL then we are setting our own task hook. */
\r
1513 if( xTask == NULL )
\r
1515 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1519 xTCB = ( tskTCB * ) xTask;
\r
1522 /* Save the hook function in the TCB. A critical section is required as
\r
1523 the value can be accessed from an interrupt. */
\r
1524 portENTER_CRITICAL();
\r
1525 xTCB->pxTaskTag = pxTagValue;
\r
1526 portEXIT_CRITICAL();
\r
1530 /*-----------------------------------------------------------*/
\r
1532 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1534 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1537 pdTASK_HOOK_CODE xReturn;
\r
1539 /* If xTask is NULL then we are setting our own task hook. */
\r
1540 if( xTask == NULL )
\r
1542 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1546 xTCB = ( tskTCB * ) xTask;
\r
1549 /* Save the hook function in the TCB. A critical section is required as
\r
1550 the value can be accessed from an interrupt. */
\r
1551 portENTER_CRITICAL();
\r
1552 xReturn = xTCB->pxTaskTag;
\r
1553 portEXIT_CRITICAL();
\r
1559 /*-----------------------------------------------------------*/
\r
1561 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1563 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1566 portBASE_TYPE xReturn;
\r
1568 /* If xTask is NULL then we are calling our own task hook. */
\r
1569 if( xTask == NULL )
\r
1571 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1575 xTCB = ( tskTCB * ) xTask;
\r
1578 if( xTCB->pxTaskTag != NULL )
\r
1580 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1591 /*-----------------------------------------------------------*/
\r
1593 void vTaskSwitchContext( void )
\r
1595 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1597 /* The scheduler is currently suspended - do not allow a context
\r
1599 xMissedYield = pdTRUE;
\r
1603 traceTASK_SWITCHED_OUT();
\r
1605 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1607 unsigned long ulTempCounter;
\r
1609 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1610 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter );
\r
1612 ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
\r
1615 /* Add the amount of time the task has been running to the accumulated
\r
1616 time so far. The time the task started running was stored in
\r
1617 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1618 so count values are only valid until the timer overflows. Generally
\r
1619 this will be about 1 hour assuming a 1uS timer increment. */
\r
1620 pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
\r
1621 ulTaskSwitchedInTime = ulTempCounter;
\r
1625 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1626 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1628 /* Find the highest priority queue that contains ready tasks. */
\r
1629 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1631 --uxTopReadyPriority;
\r
1634 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1635 same priority get an equal share of the processor time. */
\r
1636 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1638 traceTASK_SWITCHED_IN();
\r
1639 vWriteTraceToBuffer();
\r
1641 /*-----------------------------------------------------------*/
\r
1643 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1645 portTickType xTimeToWake;
\r
1647 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1648 SCHEDULER SUSPENDED. */
\r
1650 /* Place the event list item of the TCB in the appropriate event list.
\r
1651 This is placed in the list in priority order so the highest priority task
\r
1652 is the first to be woken by the event. */
\r
1653 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1655 /* We must remove ourselves from the ready list before adding ourselves
\r
1656 to the blocked list as the same list item is used for both lists. We have
\r
1657 exclusive access to the ready lists as the scheduler is locked. */
\r
1658 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1661 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1663 if( xTicksToWait == portMAX_DELAY )
\r
1665 /* Add ourselves to the suspended task list instead of a delayed task
\r
1666 list to ensure we are not woken by a timing event. We will block
\r
1668 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1672 /* Calculate the time at which the task should be woken if the event does
\r
1673 not occur. This may overflow but this doesn't matter. */
\r
1674 xTimeToWake = xTickCount + xTicksToWait;
\r
1676 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1678 if( xTimeToWake < xTickCount )
\r
1680 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1681 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1685 /* The wake time has not overflowed, so we can use the current block list. */
\r
1686 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1692 /* Calculate the time at which the task should be woken if the event does
\r
1693 not occur. This may overflow but this doesn't matter. */
\r
1694 xTimeToWake = xTickCount + xTicksToWait;
\r
1696 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1698 if( xTimeToWake < xTickCount )
\r
1700 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1701 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1705 /* The wake time has not overflowed, so we can use the current block list. */
\r
1706 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1711 /*-----------------------------------------------------------*/
\r
1713 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1715 tskTCB *pxUnblockedTCB;
\r
1716 portBASE_TYPE xReturn;
\r
1718 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1719 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1721 /* The event list is sorted in priority order, so we can remove the
\r
1722 first in the list, remove the TCB from the delayed list, and add
\r
1723 it to the ready list.
\r
1725 If an event is for a queue that is locked then this function will never
\r
1726 get called - the lock count on the queue will get modified instead. This
\r
1727 means we can always expect exclusive access to the event list here. */
\r
1728 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1729 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1731 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1733 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1734 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1738 /* We cannot access the delayed or ready lists, so will hold this
\r
1739 task pending until the scheduler is resumed. */
\r
1740 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1743 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1745 /* Return true if the task removed from the event list has
\r
1746 a higher priority than the calling task. This allows
\r
1747 the calling task to know if it should force a context
\r
1753 xReturn = pdFALSE;
\r
1758 /*-----------------------------------------------------------*/
\r
1760 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1762 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1763 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1765 /*-----------------------------------------------------------*/
\r
1767 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1769 portBASE_TYPE xReturn;
\r
1771 portENTER_CRITICAL();
\r
1773 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1774 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1775 the maximum block time then the task should block indefinitely, and
\r
1776 therefore never time out. */
\r
1777 if( *pxTicksToWait == portMAX_DELAY )
\r
1779 xReturn = pdFALSE;
\r
1781 else /* We are not blocking indefinitely, perform the checks below. */
\r
1784 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
1786 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1787 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1788 It must have wrapped all the way around and gone past us again. This
\r
1789 passed since vTaskSetTimeout() was called. */
\r
1792 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
1794 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1795 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
1796 vTaskSetTimeOutState( pxTimeOut );
\r
1797 xReturn = pdFALSE;
\r
1804 portEXIT_CRITICAL();
\r
1808 /*-----------------------------------------------------------*/
\r
1810 void vTaskMissedYield( void )
\r
1812 xMissedYield = pdTRUE;
\r
1816 * -----------------------------------------------------------
\r
1818 * ----------------------------------------------------------
\r
1820 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1821 * language extensions. The equivalent prototype for this function is:
\r
1823 * void prvIdleTask( void *pvParameters );
\r
1826 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1828 /* Stop warnings. */
\r
1829 ( void ) pvParameters;
\r
1833 /* See if any tasks have been deleted. */
\r
1834 prvCheckTasksWaitingTermination();
\r
1836 #if ( configUSE_PREEMPTION == 0 )
\r
1838 /* If we are not using preemption we keep forcing a task switch to
\r
1839 see if any other task has become available. If we are using
\r
1840 preemption we don't need to do this as any task becoming available
\r
1841 will automatically get the processor anyway. */
\r
1846 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1848 /* When using preemption tasks of equal priority will be
\r
1849 timesliced. If a task that is sharing the idle priority is ready
\r
1850 to run then the idle task should yield before the end of the
\r
1853 A critical region is not required here as we are just reading from
\r
1854 the list, and an occasional incorrect value will not matter. If
\r
1855 the ready list at the idle priority contains more than one task
\r
1856 then a task other than the idle task is ready to execute. */
\r
1857 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1864 #if ( configUSE_IDLE_HOOK == 1 )
\r
1866 extern void vApplicationIdleHook( void );
\r
1868 /* Call the user defined function from within the idle task. This
\r
1869 allows the application designer to add background functionality
\r
1870 without the overhead of a separate task.
\r
1871 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1872 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1873 vApplicationIdleHook();
\r
1877 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1885 /*-----------------------------------------------------------
\r
1886 * File private functions documented at the top of the file.
\r
1887 *----------------------------------------------------------*/
\r
1891 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
1893 /* Store the function name in the TCB. */
\r
1894 #if configMAX_TASK_NAME_LEN > 1
\r
1896 /* Don't bring strncpy into the build unnecessarily. */
\r
1897 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
1900 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = '\0';
\r
1902 /* This is used as an array index so must ensure it's not too large. First
\r
1903 remove the privilege bit if one is present. */
\r
1904 if( uxPriority >= configMAX_PRIORITIES )
\r
1906 uxPriority = configMAX_PRIORITIES - 1;
\r
1909 pxTCB->uxPriority = uxPriority;
\r
1910 #if ( configUSE_MUTEXES == 1 )
\r
1912 pxTCB->uxBasePriority = uxPriority;
\r
1916 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
1917 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
1919 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
1920 back to the containing TCB from a generic item in a list. */
\r
1921 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
1923 /* Event lists are always in priority order. */
\r
1924 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
1925 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
1927 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
1929 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
\r
1933 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1935 pxTCB->pxTaskTag = NULL;
\r
1939 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1941 pxTCB->ulRunTimeCounter = 0UL;
\r
1945 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
1947 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
1951 ( void ) xRegions;
\r
1952 ( void ) usStackDepth;
\r
1956 /*-----------------------------------------------------------*/
\r
1958 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
1960 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
1964 if( xTaskToModify == pxCurrentTCB )
\r
1966 xTaskToModify = NULL;
\r
1969 /* If null is passed in here then we are deleting ourselves. */
\r
1970 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
1972 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
1974 /*-----------------------------------------------------------*/
\r
1977 static void prvInitialiseTaskLists( void )
\r
1979 unsigned portBASE_TYPE uxPriority;
\r
1981 for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
1983 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
1986 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
1987 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
1988 vListInitialise( ( xList * ) &xPendingReadyList );
\r
1990 #if ( INCLUDE_vTaskDelete == 1 )
\r
1992 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
1996 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1998 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2002 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2004 pxDelayedTaskList = &xDelayedTaskList1;
\r
2005 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2007 /*-----------------------------------------------------------*/
\r
2009 static void prvCheckTasksWaitingTermination( void )
\r
2011 #if ( INCLUDE_vTaskDelete == 1 )
\r
2013 portBASE_TYPE xListIsEmpty;
\r
2015 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2016 too often in the idle task. */
\r
2017 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
\r
2019 vTaskSuspendAll();
\r
2020 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2023 if( !xListIsEmpty )
\r
2027 portENTER_CRITICAL();
\r
2029 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2030 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2031 --uxCurrentNumberOfTasks;
\r
2034 portEXIT_CRITICAL();
\r
2036 prvDeleteTCB( pxTCB );
\r
2042 /*-----------------------------------------------------------*/
\r
2044 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2048 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2049 the implementation of the port malloc function. */
\r
2050 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2052 if( pxNewTCB != NULL )
\r
2054 /* Allocate space for the stack used by the task being created.
\r
2055 The base of the stack memory stored in the TCB so the task can
\r
2056 be deleted later if required. */
\r
2057 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2059 if( pxNewTCB->pxStack == NULL )
\r
2061 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2062 vPortFree( pxNewTCB );
\r
2067 /* Just to help debugging. */
\r
2068 memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2074 /*-----------------------------------------------------------*/
\r
2076 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2078 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2080 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2081 unsigned short usStackRemaining;
\r
2083 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2084 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2087 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2088 #if ( portSTACK_GROWTH > 0 )
\r
2090 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2094 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2098 sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
\r
2099 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2101 } while( pxNextTCB != pxFirstTCB );
\r
2105 /*-----------------------------------------------------------*/
\r
2107 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2109 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
\r
2111 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2112 unsigned long ulStatsAsPercentage;
\r
2114 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2115 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2118 /* Get next TCB in from the list. */
\r
2119 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2121 /* Divide by zero check. */
\r
2122 if( ulTotalRunTime > 0UL )
\r
2124 /* Has the task run at all? */
\r
2125 if( pxNextTCB->ulRunTimeCounter == 0 )
\r
2127 /* The task has used no CPU time at all. */
\r
2128 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2132 /* What percentage of the total run time has the task used?
\r
2133 This will always be rounded down to the nearest integer.
\r
2134 ulTotalRunTime has already been divided by 100. */
\r
2135 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime;
\r
2137 if( ulStatsAsPercentage > 0UL )
\r
2139 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2141 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2145 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2146 printf() library can be used. */
\r
2147 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2153 /* If the percentage is zero here then the task has
\r
2154 consumed less than 1% of the total run time. */
\r
2155 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2157 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2161 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2162 printf() library can be used. */
\r
2163 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2169 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2172 } while( pxNextTCB != pxFirstTCB );
\r
2176 /*-----------------------------------------------------------*/
\r
2178 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2180 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2182 register unsigned short usCount = 0;
\r
2184 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2186 pucStackByte -= portSTACK_GROWTH;
\r
2190 usCount /= sizeof( portSTACK_TYPE );
\r
2196 /*-----------------------------------------------------------*/
\r
2198 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2200 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2203 unsigned char *pcEndOfStack;
\r
2204 unsigned portBASE_TYPE uxReturn;
\r
2206 pxTCB = prvGetTCBFromHandle( xTask );
\r
2208 #if portSTACK_GROWTH < 0
\r
2210 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2214 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2218 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2224 /*-----------------------------------------------------------*/
\r
2226 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
\r
2228 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2230 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2231 the task to free any memory allocated at the application level. */
\r
2232 vPortFreeAligned( pxTCB->pxStack );
\r
2233 vPortFree( pxTCB );
\r
2239 /*-----------------------------------------------------------*/
\r
2241 #if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
\r
2243 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2245 xTaskHandle xReturn;
\r
2247 /* A critical section is not required as this is not called from
\r
2248 an interrupt and the current TCB will always be the same for any
\r
2249 individual execution thread. */
\r
2250 xReturn = pxCurrentTCB;
\r
2257 /*-----------------------------------------------------------*/
\r
2259 #if ( INCLUDE_xTaskGetSchedulerState == 1 )
\r
2261 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2263 portBASE_TYPE xReturn;
\r
2265 if( xSchedulerRunning == pdFALSE )
\r
2267 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2271 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2273 xReturn = taskSCHEDULER_RUNNING;
\r
2277 xReturn = taskSCHEDULER_SUSPENDED;
\r
2285 /*-----------------------------------------------------------*/
\r
2287 #if ( configUSE_MUTEXES == 1 )
\r
2289 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2291 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2293 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2295 /* Adjust the mutex holder state to account for its new priority. */
\r
2296 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2298 /* If the task being modified is in the ready state it will need to
\r
2299 be moved in to a new list. */
\r
2300 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
2302 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2304 /* Inherit the priority before being moved into the new list. */
\r
2305 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2306 prvAddTaskToReadyQueue( pxTCB );
\r
2310 /* Just inherit the priority. */
\r
2311 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2317 /*-----------------------------------------------------------*/
\r
2319 #if ( configUSE_MUTEXES == 1 )
\r
2321 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2323 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2325 if( pxMutexHolder != NULL )
\r
2327 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2329 /* We must be the running task to be able to give the mutex back.
\r
2330 Remove ourselves from the ready list we currently appear in. */
\r
2331 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2333 /* Disinherit the priority before adding ourselves into the new
\r
2335 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2336 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2337 prvAddTaskToReadyQueue( pxTCB );
\r
2343 /*-----------------------------------------------------------*/
\r
2345 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2347 void vTaskEnterCritical( void )
\r
2349 portDISABLE_INTERRUPTS();
\r
2351 if( xSchedulerRunning != pdFALSE )
\r
2353 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2358 /*-----------------------------------------------------------*/
\r
2360 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2362 void vTaskExitCritical( void )
\r
2364 if( xSchedulerRunning != pdFALSE )
\r
2366 if( pxCurrentTCB->uxCriticalNesting > 0 )
\r
2368 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2370 if( pxCurrentTCB->uxCriticalNesting == 0 )
\r
2372 portENABLE_INTERRUPTS();
\r
2379 /*-----------------------------------------------------------*/
\r
projects / freertos / blob