2 FreeRTOS.org V4.7.2 - 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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28 Please ensure to read the configuration and relevant port sections of the
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29 online documentation.
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31 +++ http://www.FreeRTOS.org +++
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32 Documentation, latest information, license and contact details.
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34 +++ http://www.SafeRTOS.com +++
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35 A version that is certified for use in safety critical systems.
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37 +++ http://www.OpenRTOS.com +++
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38 Commercial support, development, porting, licensing and training services.
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40 ***************************************************************************
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46 + Call to portRESTORE_CONTEXT has been removed. The first context
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47 switch is now performed within sPortStartScheduler().
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51 + More use of 8bit data types.
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52 + Function name prefixes changed where the data type returned has changed.
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53 + configUSE_TRACE_FACILITY is no longer defined by default.
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57 + Introduced ucTopReadyPriority. This tracks the highest priority ready
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58 queue that contains a valid TCB and thus makes the context switch
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61 + prvAddTaskToReadyQueue() has been made a macro.
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65 + Added conditional compilation directives.
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67 + Rearranged function order.
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68 + Creating a task now causes a context switch if the task being created
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69 has a higher priority than the calling task - assuming the kernel is
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71 + vTaskDelete() now only causes a context switch if the calling task is
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72 the task being deleted.
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76 + Allow the type of the tick count to be 16 or 32 bits.
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77 + Introduce xPendingReadyList feature to allow the time interrupts have to
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78 be disabled to be minimised.
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79 + Remove the #if( INCLUDE_vTaskSuspendAll ) statements. vTaskSuspendAll()
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80 is now always included as it is used by the scheduler itself.
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84 + Bug fix - pxCurrentTCB is now initialised before the call to
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85 prvInitializeTaskLists(). Previously pxCurrentTCB could be accessed
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90 + Change to where lStackSize is declared within sTaskCreate() to prevent
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91 compiler warnings with 8051 port.
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95 + Explicit use of 'signed' qualifier on portCHAR types added.
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96 + Changed odd calculation of initial pxTopOfStack value when
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97 portSTACK_GROWTH < 0.
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98 + Removed pcVersionNumber definition.
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100 Changes from V2.5.3
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102 + cTaskResumeAll() modified to ensure it can be called prior to the task
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103 lists being initialised.
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105 Changes from V2.5.5
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107 + Added API function vTaskDelayUntil().
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108 + Added INCLUDE_vTaskDelay conditional compilation.
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110 Changes from V2.6.0
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112 + Updated the vWriteTraceToBuffer macro to always be 4 byte aligned so it
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113 can be used on ARM architectures.
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114 + tskMAX_TASK_NAME_LEN definition replaced with the port specific
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115 configMAX_TASK_NAME_LEN definition.
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116 + Removed the call to strcpy when copying across the task name into the
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118 + Added ucTasksDeleted variable to prevent vTaskSuspendAll() being called
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119 too often in the idle task.
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121 Changes between V3.0.0 and V2.6.1
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123 + When resuming the scheduler a yield is performed if either a tick has
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124 been missed, or a task is moved from the pending ready list into a ready
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125 list. Previously a yield was not performed on this second condition.
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126 + Introduced the type portBASE_TYPE. This necessitates several API
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128 + Removed the sUsingPreemption variable. The constant defined in
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129 portmacro.h is now used directly.
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130 + The idle task can now include an optional hook function - and no longer
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131 completes its time slice if other tasks with equal priority to it are
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133 + See the FreeRTOS.org documentation for more information on V2.x.x to
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134 V3.x.x modifications.
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136 Changes from V3.1.1
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138 + Modified vTaskPrioritySet() and vTaskResume() to allow these functions to
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139 be called while the scheduler is suspended.
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140 + Corrected the task ordering within event lists.
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142 Changes from V3.2.0
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144 + Added function xTaskGetCurrentTaskHandle().
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146 Changes from V3.2.4
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148 + Changed the volatile declarations on some variables to reflect the
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149 changes to the list definitions.
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150 + Changed the order of the TCB definition so there is commonality between
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151 the task control block and a co-routine control block.
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152 + Allow the scheduler to be started even if no tasks other than the idle
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153 task has been created. This allows co-routines to run even when no tasks
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155 + The need for a context switch is now signalled if a task woken by an
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156 event has a priority greater or equal to the currently running task.
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157 Previously this was only greater than.
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159 Changes from V4.0.0
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161 + Added the xMissedYield handling.
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163 Changes from V4.0.1
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165 + The function vTaskList() now suspends the scheduler rather than disabling
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166 interrupts during the creation of the task list.
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167 + Allow a task to delete itself by passing in its own handle. Previously
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168 this could only be done by passing in NULL.
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169 + The tick hook function is now called only within a tick isr. Previously
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170 it was also called when the tick function was called during the scheduler
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173 Changes from V4.0.3
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175 + Extra checks have been placed in vTaskPrioritySet() to avoid unnecessary
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178 Changed from V4.0.4
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180 + Bug fix: The 'value' of the event list item is updated when the priority
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181 of a task is changed. Previously only the priority of the TCB itself was
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183 + When resuming a task a check is first made to see if the task is actually
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185 + vTaskPrioritySet() and vTaskResume() no longer use the event list item.
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186 This has not been necessary since V4.0.1 when the xMissedYield handling
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188 + Implement xTaskResumeFromISR().
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190 Changes from V4.0.5
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192 + Added utility functions and xOverflowCount variable to facilitate the
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195 Changes from V4.1.2
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197 + Tasks that block on events with a timeout of portMAX_DELAY are now
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198 blocked indefinitely if configINCLUDE_vTaskSuspend is defined.
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199 Previously portMAX_DELAY was just the longest block time possible.
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201 Changes from V4.1.3
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203 + Very small change made to xTaskCheckForTimeout() as a result of the
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204 SafeRTOS testing. This corrects the case where the function can return an
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205 invalid value - but only in an extremely unlikely scenario.
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207 Changes since V4.3.1:
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209 + Added xTaskGetSchedulerState() function.
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210 + Added prvIsTaskSuspended() to take into account the Occurrence of
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211 vTaskResume() or vTaskResumeFromISR() being called passing in the
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212 handle of a task that appears in the Suspended list only because it
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213 is blocked on an event without a timeout being specified.
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214 + Updated xTaskCheckForTimeout() to take into account that tasks blocked
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215 using the Suspended list should never time out.
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219 #include <stdlib.h>
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220 #include <string.h>
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222 #include "FreeRTOS.h"
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226 * Macro to define the amount of stack available to the idle task.
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228 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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232 * Default a definitions for backwards compatibility with old
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233 * portmacro.h files.
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235 #ifndef configMAX_TASK_NAME_LEN
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236 #define configMAX_TASK_NAME_LEN 16
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239 #ifndef configIDLE_SHOULD_YIELD
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240 #define configIDLE_SHOULD_YIELD 1
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243 #if configMAX_TASK_NAME_LEN < 1
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244 #undef configMAX_TASK_NAME_LEN
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245 #define configMAX_TASK_NAME_LEN 1
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248 #ifndef INCLUDE_xTaskResumeFromISR
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249 #define INCLUDE_xTaskResumeFromISR 1
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252 #ifndef INCLUDE_xTaskGetSchedulerState
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253 #define INCLUDE_xTaskGetSchedulerState 0
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257 * Task control block. A task control block (TCB) is allocated to each task,
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258 * and stores the context of the task.
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260 typedef struct tskTaskControlBlock
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262 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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263 xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
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264 xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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265 unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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266 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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267 signed portCHAR pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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269 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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270 unsigned portBASE_TYPE uxCriticalNesting;
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273 #if ( configUSE_TRACE_FACILITY == 1 )
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274 unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
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277 #if ( configUSE_MUTEXES == 1 )
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278 unsigned portBASE_TYPE uxBasePriority;
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285 tskTCB * volatile pxCurrentTCB = NULL;
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287 /* Lists for ready and blocked tasks. --------------------*/
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289 static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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290 static xList xDelayedTaskList1; /*< Delayed tasks. */
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291 static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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292 static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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293 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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294 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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296 #if ( INCLUDE_vTaskDelete == 1 )
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298 static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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299 static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
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303 #if ( INCLUDE_vTaskSuspend == 1 )
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305 static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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309 /* File private variables. --------------------------------*/
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310 static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
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311 static volatile portTickType xTickCount = ( portTickType ) 0;
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312 static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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313 static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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314 static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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315 static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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316 static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
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317 static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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318 static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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319 /* Debugging and trace facilities private variables and macros. ------------*/
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322 * The value used to fill the stack of a task when the task is created. This
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323 * is used purely for checking the high water mark for tasks.
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325 #define tskSTACK_FILL_BYTE ( 0xa5 )
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328 * Macros used by vListTask to indicate which state a task is in.
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330 #define tskBLOCKED_CHAR ( ( signed portCHAR ) 'B' )
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331 #define tskREADY_CHAR ( ( signed portCHAR ) 'R' )
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332 #define tskDELETED_CHAR ( ( signed portCHAR ) 'D' )
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333 #define tskSUSPENDED_CHAR ( ( signed portCHAR ) 'S' )
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336 * Macros and private variables used by the trace facility.
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338 #if ( configUSE_TRACE_FACILITY == 1 )
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340 #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned portLONG ) ( sizeof( unsigned portLONG ) + sizeof( unsigned portLONG ) ) )
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341 static volatile signed portCHAR * volatile pcTraceBuffer;
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342 static signed portCHAR *pcTraceBufferStart;
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343 static signed portCHAR *pcTraceBufferEnd;
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344 static signed portBASE_TYPE xTracing = pdFALSE;
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349 * Macro that writes a trace of scheduler activity to a buffer. This trace
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350 * shows which task is running when and is very useful as a debugging tool.
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351 * As this macro is called each context switch it is a good idea to undefine
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352 * it if not using the facility.
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354 #if ( configUSE_TRACE_FACILITY == 1 )
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356 #define vWriteTraceToBuffer() \
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360 static unsigned portBASE_TYPE uxPreviousTask = 255; \
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362 if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
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364 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
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366 uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
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367 *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) xTickCount; \
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368 pcTraceBuffer += sizeof( unsigned portLONG ); \
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369 *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) uxPreviousTask; \
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370 pcTraceBuffer += sizeof( unsigned portLONG ); \
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374 xTracing = pdFALSE; \
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382 #define vWriteTraceToBuffer()
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388 * Place the task represented by pxTCB into the appropriate ready queue for
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389 * the task. It is inserted at the end of the list. One quirk of this is
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390 * that if the task being inserted is at the same priority as the currently
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391 * executing task, then it will only be rescheduled after the currently
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392 * executing task has been rescheduled.
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394 #define prvAddTaskToReadyQueue( pxTCB ) \
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396 if( pxTCB->uxPriority > uxTopReadyPriority ) \
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398 uxTopReadyPriority = pxTCB->uxPriority; \
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400 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \
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404 * Macro that looks at the list of tasks that are currently delayed to see if
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405 * any require waking.
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407 * Tasks are stored in the queue in the order of their wake time - meaning
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408 * once one tasks has been found whose timer has not expired we need not look
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409 * any further down the list.
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411 #define prvCheckDelayedTasks() \
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413 register tskTCB *pxTCB; \
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415 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \
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417 if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \
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421 vListRemove( &( pxTCB->xGenericListItem ) ); \
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422 /* Is the task waiting on an event also? */ \
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423 if( pxTCB->xEventListItem.pvContainer ) \
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425 vListRemove( &( pxTCB->xEventListItem ) ); \
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427 prvAddTaskToReadyQueue( pxTCB ); \
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432 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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433 * where NULL is used to indicate that the handle of the currently executing
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434 * task should be used in place of the parameter. This macro simply checks to
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435 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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437 #define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )
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440 /* File private functions. --------------------------------*/
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443 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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444 * into the TCB structure.
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446 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority );
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449 * Utility to ready all the lists used by the scheduler. This is called
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450 * automatically upon the creation of the first task.
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452 static void prvInitialiseTaskLists( void );
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455 * The idle task, which as all tasks is implemented as a never ending loop.
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456 * The idle task is automatically created and added to the ready lists upon
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457 * creation of the first user task.
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459 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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460 * language extensions. The equivalent prototype for this function is:
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462 * void prvIdleTask( void *pvParameters );
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465 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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468 * Utility to free all memory allocated by the scheduler to hold a TCB,
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469 * including the stack pointed to by the TCB.
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471 * This does not free memory allocated by the task itself (i.e. memory
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472 * allocated by calls to pvPortMalloc from within the tasks application code).
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474 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
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475 static void prvDeleteTCB( tskTCB *pxTCB );
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479 * Used only by the idle task. This checks to see if anything has been placed
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480 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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481 * and its TCB deleted.
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483 static void prvCheckTasksWaitingTermination( void );
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486 * Allocates memory from the heap for a TCB and associated stack. Checks the
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487 * allocation was successful.
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489 static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );
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492 * Called from vTaskList. vListTasks details all the tasks currently under
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493 * control of the scheduler. The tasks may be in one of a number of lists.
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494 * prvListTaskWithinSingleList accepts a list and details the tasks from
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495 * within just that list.
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497 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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498 * NORMAL APPLICATION CODE.
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500 #if ( configUSE_TRACE_FACILITY == 1 )
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502 static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus );
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507 * When a task is created, the stack of the task is filled with a known value.
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508 * This function determines the 'high water mark' of the task stack by
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509 * determining how much of the stack remains at the original preset value.
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511 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxGetStackHighWaterMark == 1 ) )
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513 unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte );
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518 * Checks that a task being resumed (unsuspended) is actually in the Suspended
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521 #if ( INCLUDE_vTaskSuspend == 1 )
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523 static portBASE_TYPE prvIsTaskSuspended( const tskTCB * const pxTCB );
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533 /*-----------------------------------------------------------
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534 * TASK CREATION API documented in task.h
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535 *----------------------------------------------------------*/
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537 signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask )
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539 signed portBASE_TYPE xReturn;
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541 #if ( configUSE_TRACE_FACILITY == 1 )
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542 static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberate - this is guarded before use. */
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545 /* Allocate the memory required by the TCB and stack for the new task.
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546 checking that the allocation was successful. */
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547 pxNewTCB = prvAllocateTCBAndStack( usStackDepth );
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549 if( pxNewTCB != NULL )
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551 portSTACK_TYPE *pxTopOfStack;
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553 /* Setup the newly allocated TCB with the initial state of the task. */
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554 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority );
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556 /* Calculate the top of stack address. This depends on whether the
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557 stack grows from high memory to low (as per the 80x86) or visa versa.
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558 portSTACK_GROWTH is used to make the result positive or negative as
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559 required by the port. */
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560 #if portSTACK_GROWTH < 0
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562 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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566 pxTopOfStack = pxNewTCB->pxStack;
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570 /* Initialize the TCB stack to look as if the task was already running,
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571 but had been interrupted by the scheduler. The return address is set
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572 to the start of the task function. Once the stack has been initialised
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573 the top of stack variable is updated. */
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574 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pvTaskCode, pvParameters );
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576 /* We are going to manipulate the task queues to add this task to a
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577 ready list, so must make sure no interrupts occur. */
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578 portENTER_CRITICAL();
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580 uxCurrentNumberOfTasks++;
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581 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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583 /* As this is the first task it must also be the current task. */
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584 pxCurrentTCB = pxNewTCB;
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586 /* This is the first task to be created so do the preliminary
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587 initialisation required. We will not recover if this call
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588 fails, but we will report the failure. */
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589 prvInitialiseTaskLists();
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593 /* If the scheduler is not already running, make this task the
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594 current task if it is the highest priority task to be created
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596 if( xSchedulerRunning == pdFALSE )
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598 if( pxCurrentTCB->uxPriority <= uxPriority )
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600 pxCurrentTCB = pxNewTCB;
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605 /* Remember the top priority to make context switching faster. Use
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606 the priority in pxNewTCB as this has been capped to a valid value. */
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607 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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609 uxTopUsedPriority = pxNewTCB->uxPriority;
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612 #if ( configUSE_TRACE_FACILITY == 1 )
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614 /* Add a counter into the TCB for tracing only. */
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615 pxNewTCB->uxTCBNumber = uxTaskNumber;
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620 prvAddTaskToReadyQueue( pxNewTCB );
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623 traceTASK_CREATE( pxNewTCB );
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625 portEXIT_CRITICAL();
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629 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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630 traceTASK_CREATE_FAILED( pxNewTCB );
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633 if( xReturn == pdPASS )
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635 if( ( void * ) pxCreatedTask != NULL )
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637 /* Pass the TCB out - in an anonymous way. The calling function/
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638 task can use this as a handle to delete the task later if
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640 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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643 if( xSchedulerRunning != pdFALSE )
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645 /* If the created task is of a higher priority than the current task
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646 then it should run now. */
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647 if( pxCurrentTCB->uxPriority < uxPriority )
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656 /*-----------------------------------------------------------*/
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658 #if ( INCLUDE_vTaskDelete == 1 )
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660 void vTaskDelete( xTaskHandle pxTaskToDelete )
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664 taskENTER_CRITICAL();
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666 /* Ensure a yield is performed if the current task is being
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668 if( pxTaskToDelete == pxCurrentTCB )
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670 pxTaskToDelete = NULL;
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673 /* If null is passed in here then we are deleting ourselves. */
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674 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
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676 traceTASK_DELETE( pxTCB );
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678 /* Remove task from the ready list and place in the termination list.
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679 This will stop the task from be scheduled. The idle task will check
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680 the termination list and free up any memory allocated by the
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681 scheduler for the TCB and stack. */
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682 vListRemove( &( pxTCB->xGenericListItem ) );
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684 /* Is the task waiting on an event also? */
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685 if( pxTCB->xEventListItem.pvContainer )
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687 vListRemove( &( pxTCB->xEventListItem ) );
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690 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
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692 /* Increment the ucTasksDeleted variable so the idle task knows
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693 there is a task that has been deleted and that it should therefore
\r
694 check the xTasksWaitingTermination list. */
\r
697 taskEXIT_CRITICAL();
\r
699 /* Force a reschedule if we have just deleted the current task. */
\r
700 if( xSchedulerRunning != pdFALSE )
\r
702 if( ( void * ) pxTaskToDelete == NULL )
\r
716 /*-----------------------------------------------------------
\r
717 * TASK CONTROL API documented in task.h
\r
718 *----------------------------------------------------------*/
\r
720 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
722 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
724 portTickType xTimeToWake;
\r
725 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
729 /* Generate the tick time at which the task wants to wake. */
\r
730 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
732 if( xTickCount < *pxPreviousWakeTime )
\r
734 /* The tick count has overflowed since this function was
\r
735 lasted called. In this case the only time we should ever
\r
736 actually delay is if the wake time has also overflowed,
\r
737 and the wake time is greater than the tick time. When this
\r
738 is the case it is as if neither time had overflowed. */
\r
739 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
741 xShouldDelay = pdTRUE;
\r
746 /* The tick time has not overflowed. In this case we will
\r
747 delay if either the wake time has overflowed, and/or the
\r
748 tick time is less than the wake time. */
\r
749 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
751 xShouldDelay = pdTRUE;
\r
755 /* Update the wake time ready for the next call. */
\r
756 *pxPreviousWakeTime = xTimeToWake;
\r
760 traceTASK_DELAY_UNTIL();
\r
762 /* We must remove ourselves from the ready list before adding
\r
763 ourselves to the blocked list as the same list item is used for
\r
765 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
767 /* The list item will be inserted in wake time order. */
\r
768 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
770 if( xTimeToWake < xTickCount )
\r
772 /* Wake time has overflowed. Place this item in the
\r
774 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
778 /* The wake time has not overflowed, so we can use the
\r
779 current block list. */
\r
780 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
784 xAlreadyYielded = xTaskResumeAll();
\r
786 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
787 have put ourselves to sleep. */
\r
788 if( !xAlreadyYielded )
\r
795 /*-----------------------------------------------------------*/
\r
797 #if ( INCLUDE_vTaskDelay == 1 )
\r
799 void vTaskDelay( portTickType xTicksToDelay )
\r
801 portTickType xTimeToWake;
\r
802 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
804 /* A delay time of zero just forces a reschedule. */
\r
805 if( xTicksToDelay > ( portTickType ) 0 )
\r
811 /* A task that is removed from the event list while the
\r
812 scheduler is suspended will not get placed in the ready
\r
813 list or removed from the blocked list until the scheduler
\r
816 This task cannot be in an event list as it is the currently
\r
819 /* Calculate the time to wake - this may overflow but this is
\r
821 xTimeToWake = xTickCount + xTicksToDelay;
\r
823 /* We must remove ourselves from the ready list before adding
\r
824 ourselves to the blocked list as the same list item is used for
\r
826 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
828 /* The list item will be inserted in wake time order. */
\r
829 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
831 if( xTimeToWake < xTickCount )
\r
833 /* Wake time has overflowed. Place this item in the
\r
835 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
839 /* The wake time has not overflowed, so we can use the
\r
840 current block list. */
\r
841 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
844 xAlreadyYielded = xTaskResumeAll();
\r
847 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
848 have put ourselves to sleep. */
\r
849 if( !xAlreadyYielded )
\r
856 /*-----------------------------------------------------------*/
\r
858 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
860 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
863 unsigned portBASE_TYPE uxReturn;
\r
865 taskENTER_CRITICAL();
\r
867 /* If null is passed in here then we are changing the
\r
868 priority of the calling function. */
\r
869 pxTCB = prvGetTCBFromHandle( pxTask );
\r
870 uxReturn = pxTCB->uxPriority;
\r
872 taskEXIT_CRITICAL();
\r
878 /*-----------------------------------------------------------*/
\r
880 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
882 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
885 unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
\r
887 /* Ensure the new priority is valid. */
\r
888 if( uxNewPriority >= configMAX_PRIORITIES )
\r
890 uxNewPriority = configMAX_PRIORITIES - 1;
\r
893 taskENTER_CRITICAL();
\r
895 /* If null is passed in here then we are changing the
\r
896 priority of the calling function. */
\r
897 pxTCB = prvGetTCBFromHandle( pxTask );
\r
899 traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
\r
901 #if ( configUSE_MUTEXES == 1 )
\r
903 uxCurrentPriority = pxTCB->uxBasePriority;
\r
907 uxCurrentPriority = pxTCB->uxPriority;
\r
911 if( uxCurrentPriority != uxNewPriority )
\r
913 /* The priority change may have readied a task of higher
\r
914 priority than the calling task. */
\r
915 if( uxNewPriority > uxCurrentPriority )
\r
917 if( pxTask != NULL )
\r
919 /* The priority of another task is being raised. If we
\r
920 were raising the priority of the currently running task
\r
921 there would be no need to switch as it must have already
\r
922 been the highest priority task. */
\r
923 xYieldRequired = pdTRUE;
\r
926 else if( pxTask == NULL )
\r
928 /* Setting our own priority down means there may now be another
\r
929 task of higher priority that is ready to execute. */
\r
930 xYieldRequired = pdTRUE;
\r
935 #if ( configUSE_MUTEXES == 1 )
\r
937 /* Only change the priority being used if the task is not
\r
938 currently using an inherited priority. */
\r
939 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
941 pxTCB->uxPriority = uxNewPriority;
\r
944 /* The base priority gets set whatever. */
\r
945 pxTCB->uxBasePriority = uxNewPriority;
\r
949 pxTCB->uxPriority = uxNewPriority;
\r
953 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
955 /* If the task is in the blocked or suspended list we need do
\r
956 nothing more than change it's priority variable. However, if
\r
957 the task is in a ready list it needs to be removed and placed
\r
958 in the queue appropriate to its new priority. */
\r
959 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
961 /* The task is currently in its ready list - remove before adding
\r
962 it to it's new ready list. As we are in a critical section we
\r
963 can do this even if the scheduler is suspended. */
\r
964 vListRemove( &( pxTCB->xGenericListItem ) );
\r
965 prvAddTaskToReadyQueue( pxTCB );
\r
968 if( xYieldRequired == pdTRUE )
\r
974 taskEXIT_CRITICAL();
\r
978 /*-----------------------------------------------------------*/
\r
980 #if ( INCLUDE_vTaskSuspend == 1 )
\r
982 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
986 taskENTER_CRITICAL();
\r
988 /* Ensure a yield is performed if the current task is being
\r
990 if( pxTaskToSuspend == pxCurrentTCB )
\r
992 pxTaskToSuspend = NULL;
\r
995 /* If null is passed in here then we are suspending ourselves. */
\r
996 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
998 traceTASK_SUSPEND( pxTaskToSuspend );
\r
1000 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
1001 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1003 /* Is the task waiting on an event also? */
\r
1004 if( pxTCB->xEventListItem.pvContainer )
\r
1006 vListRemove( &( pxTCB->xEventListItem ) );
\r
1009 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1011 taskEXIT_CRITICAL();
\r
1013 /* We may have just suspended the current task. */
\r
1014 if( ( void * ) pxTaskToSuspend == NULL )
\r
1021 /*-----------------------------------------------------------*/
\r
1023 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1025 static portBASE_TYPE prvIsTaskSuspended( const tskTCB * const pxTCB )
\r
1027 portBASE_TYPE xReturn = pdFALSE;
\r
1029 /* Is the task we are attempting to resume actually in the
\r
1030 suspended list? */
\r
1031 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1033 /* Has the task already been resumed from within an ISR? */
\r
1034 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
1036 /* Is it in the suspended list because it is in the
\r
1037 Suspended state? It is possible to be in the suspended
\r
1038 list because it is blocked on a task with no timeout
\r
1040 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
1051 /*-----------------------------------------------------------*/
\r
1053 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1055 void vTaskResume( xTaskHandle pxTaskToResume )
\r
1059 /* Remove the task from whichever list it is currently in, and place
\r
1060 it in the ready list. */
\r
1061 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1063 /* The parameter cannot be NULL as it is impossible to resume the
\r
1064 currently executing task. */
\r
1065 if( pxTCB != NULL )
\r
1067 taskENTER_CRITICAL();
\r
1069 if( prvIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1071 traceTASK_RESUME( pxTCB );
\r
1073 /* As we are in a critical section we can access the ready
\r
1074 lists even if the scheduler is suspended. */
\r
1075 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1076 prvAddTaskToReadyQueue( pxTCB );
\r
1078 /* We may have just resumed a higher priority task. */
\r
1079 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1081 /* This yield may not cause the task just resumed to run, but
\r
1082 will leave the lists in the correct state for the next yield. */
\r
1087 taskEXIT_CRITICAL();
\r
1093 /*-----------------------------------------------------------*/
\r
1095 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1097 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
1099 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1102 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1104 if( prvIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1106 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1108 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1110 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1111 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1112 prvAddTaskToReadyQueue( pxTCB );
\r
1116 /* We cannot access the delayed or ready lists, so will hold this
\r
1117 task pending until the scheduler is resumed, at which point a
\r
1118 yield will be performed if necessary. */
\r
1119 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1123 return xYieldRequired;
\r
1131 /*-----------------------------------------------------------
\r
1132 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1133 *----------------------------------------------------------*/
\r
1136 void vTaskStartScheduler( void )
\r
1138 portBASE_TYPE xReturn;
\r
1140 /* Add the idle task at the lowest priority. */
\r
1141 xReturn = xTaskCreate( prvIdleTask, ( signed portCHAR * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
\r
1143 if( xReturn == pdPASS )
\r
1145 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1146 before or during the call to xPortStartScheduler(). The stacks of
\r
1147 the created tasks contain a status word with interrupts switched on
\r
1148 so interrupts will automatically get re-enabled when the first task
\r
1151 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1152 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1153 portDISABLE_INTERRUPTS();
\r
1155 xSchedulerRunning = pdTRUE;
\r
1156 xTickCount = ( portTickType ) 0;
\r
1158 /* Setting up the timer tick is hardware specific and thus in the
\r
1159 portable interface. */
\r
1160 if( xPortStartScheduler() )
\r
1162 /* Should not reach here as if the scheduler is running the
\r
1163 function will not return. */
\r
1167 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1171 /*-----------------------------------------------------------*/
\r
1173 void vTaskEndScheduler( void )
\r
1175 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1176 routine so the original ISRs can be restored if necessary. The port
\r
1177 layer must ensure interrupts enable bit is left in the correct state. */
\r
1178 portDISABLE_INTERRUPTS();
\r
1179 xSchedulerRunning = pdFALSE;
\r
1180 vPortEndScheduler();
\r
1182 /*----------------------------------------------------------*/
\r
1184 void vTaskSuspendAll( void )
\r
1186 portENTER_CRITICAL();
\r
1187 ++uxSchedulerSuspended;
\r
1188 portEXIT_CRITICAL();
\r
1190 /*----------------------------------------------------------*/
\r
1192 signed portBASE_TYPE xTaskResumeAll( void )
\r
1194 register tskTCB *pxTCB;
\r
1195 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1197 /* It is possible that an ISR caused a task to be removed from an event
\r
1198 list while the scheduler was suspended. If this was the case then the
\r
1199 removed task will have been added to the xPendingReadyList. Once the
\r
1200 scheduler has been resumed it is safe to move all the pending ready
\r
1201 tasks from this list into their appropriate ready list. */
\r
1202 portENTER_CRITICAL();
\r
1204 --uxSchedulerSuspended;
\r
1206 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1208 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
\r
1210 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1212 /* Move any readied tasks from the pending list into the
\r
1213 appropriate ready list. */
\r
1214 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL )
\r
1216 vListRemove( &( pxTCB->xEventListItem ) );
\r
1217 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1218 prvAddTaskToReadyQueue( pxTCB );
\r
1220 /* If we have moved a task that has a priority higher than
\r
1221 the current task then we should yield. */
\r
1222 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1224 xYieldRequired = pdTRUE;
\r
1228 /* If any ticks occurred while the scheduler was suspended then
\r
1229 they should be processed now. This ensures the tick count does not
\r
1230 slip, and that any delayed tasks are resumed at the correct time. */
\r
1231 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1233 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1235 vTaskIncrementTick();
\r
1239 /* As we have processed some ticks it is appropriate to yield
\r
1240 to ensure the highest priority task that is ready to run is
\r
1241 the task actually running. */
\r
1242 #if configUSE_PREEMPTION == 1
\r
1244 xYieldRequired = pdTRUE;
\r
1249 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1251 xAlreadyYielded = pdTRUE;
\r
1252 xMissedYield = pdFALSE;
\r
1258 portEXIT_CRITICAL();
\r
1260 return xAlreadyYielded;
\r
1268 /*-----------------------------------------------------------
\r
1269 * PUBLIC TASK UTILITIES documented in task.h
\r
1270 *----------------------------------------------------------*/
\r
1274 portTickType xTaskGetTickCount( void )
\r
1276 portTickType xTicks;
\r
1278 /* Critical section required if running on a 16 bit processor. */
\r
1279 taskENTER_CRITICAL();
\r
1281 xTicks = xTickCount;
\r
1283 taskEXIT_CRITICAL();
\r
1287 /*-----------------------------------------------------------*/
\r
1289 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1291 unsigned portBASE_TYPE uxNumberOfTasks;
\r
1293 taskENTER_CRITICAL();
\r
1294 uxNumberOfTasks = uxCurrentNumberOfTasks;
\r
1295 taskEXIT_CRITICAL();
\r
1297 return uxNumberOfTasks;
\r
1299 /*-----------------------------------------------------------*/
\r
1301 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_vTaskDelete == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1303 void vTaskList( signed portCHAR *pcWriteBuffer )
\r
1305 unsigned portBASE_TYPE uxQueue;
\r
1307 /* This is a VERY costly function that should be used for debug only.
\r
1308 It leaves interrupts disabled for a LONG time. */
\r
1310 vTaskSuspendAll();
\r
1312 /* Run through all the lists that could potentially contain a TCB and
\r
1313 report the task name, state and stack high water mark. */
\r
1315 pcWriteBuffer[ 0 ] = ( signed portCHAR ) 0x00;
\r
1316 strcat( ( portCHAR * ) pcWriteBuffer, ( const portCHAR * ) "\r\n" );
\r
1318 uxQueue = uxTopUsedPriority + 1;
\r
1324 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1326 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1328 }while( uxQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
\r
1330 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1332 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1335 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1337 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1340 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1342 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1345 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1347 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1354 /*----------------------------------------------------------*/
\r
1356 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1358 void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize )
\r
1360 portENTER_CRITICAL();
\r
1362 pcTraceBuffer = ( signed portCHAR * )pcBuffer;
\r
1363 pcTraceBufferStart = pcBuffer;
\r
1364 pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
\r
1365 xTracing = pdTRUE;
\r
1367 portEXIT_CRITICAL();
\r
1371 /*----------------------------------------------------------*/
\r
1373 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1375 unsigned portLONG ulTaskEndTrace( void )
\r
1377 unsigned portLONG ulBufferLength;
\r
1379 portENTER_CRITICAL();
\r
1380 xTracing = pdFALSE;
\r
1381 portEXIT_CRITICAL();
\r
1383 ulBufferLength = ( unsigned portLONG ) ( pcTraceBuffer - pcTraceBufferStart );
\r
1385 return ulBufferLength;
\r
1392 /*-----------------------------------------------------------
\r
1393 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1394 * documented in task.h
\r
1395 *----------------------------------------------------------*/
\r
1398 inline void vTaskIncrementTick( void )
\r
1400 /* Called by the portable layer each time a tick interrupt occurs.
\r
1401 Increments the tick then checks to see if the new tick value will cause any
\r
1402 tasks to be unblocked. */
\r
1403 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1406 if( xTickCount == ( portTickType ) 0 )
\r
1410 /* Tick count has overflowed so we need to swap the delay lists.
\r
1411 If there are any items in pxDelayedTaskList here then there is
\r
1413 pxTemp = pxDelayedTaskList;
\r
1414 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1415 pxOverflowDelayedTaskList = pxTemp;
\r
1416 xNumOfOverflows++;
\r
1419 /* See if this tick has made a timeout expire. */
\r
1420 prvCheckDelayedTasks();
\r
1426 /* The tick hook gets called at regular intervals, even if the
\r
1427 scheduler is locked. */
\r
1428 #if ( configUSE_TICK_HOOK == 1 )
\r
1430 extern void vApplicationTickHook( void );
\r
1432 vApplicationTickHook();
\r
1437 #if ( configUSE_TICK_HOOK == 1 )
\r
1439 extern void vApplicationTickHook( void );
\r
1441 /* Guard against the tick hook being called when the missed tick
\r
1442 count is being unwound (when the scheduler is being unlocked. */
\r
1443 if( uxMissedTicks == 0 )
\r
1445 vApplicationTickHook();
\r
1450 traceTASK_INCREMENT_TICK( xTickCount );
\r
1452 /*-----------------------------------------------------------*/
\r
1454 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1456 void vTaskCleanUpResources( void )
\r
1458 unsigned portSHORT usQueue;
\r
1459 volatile tskTCB *pxTCB;
\r
1461 usQueue = ( unsigned portSHORT ) uxTopUsedPriority + ( unsigned portSHORT ) 1;
\r
1463 /* Remove any TCB's from the ready queues. */
\r
1468 while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
\r
1470 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
\r
1471 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1473 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1475 }while( usQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
\r
1477 /* Remove any TCB's from the delayed queue. */
\r
1478 while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
\r
1480 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
\r
1481 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1483 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1486 /* Remove any TCB's from the overflow delayed queue. */
\r
1487 while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
\r
1489 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
\r
1490 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1492 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1495 while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1497 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
\r
1498 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1500 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1505 /*-----------------------------------------------------------*/
\r
1507 void vTaskSwitchContext( void )
\r
1509 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1511 /* The scheduler is currently suspended - do not allow a context
\r
1513 xMissedYield = pdTRUE;
\r
1517 /* Find the highest priority queue that contains ready tasks. */
\r
1518 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1520 --uxTopReadyPriority;
\r
1523 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1524 same priority get an equal share of the processor time. */
\r
1525 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1527 traceTASK_SWITCHED_IN();
\r
1528 vWriteTraceToBuffer();
\r
1530 /*-----------------------------------------------------------*/
\r
1532 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1534 portTickType xTimeToWake;
\r
1536 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1537 SCHEDULER SUSPENDED. */
\r
1539 /* Place the event list item of the TCB in the appropriate event list.
\r
1540 This is placed in the list in priority order so the highest priority task
\r
1541 is the first to be woken by the event. */
\r
1542 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1544 /* We must remove ourselves from the ready list before adding ourselves
\r
1545 to the blocked list as the same list item is used for both lists. We have
\r
1546 exclusive access to the ready lists as the scheduler is locked. */
\r
1547 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1550 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1552 if( xTicksToWait == portMAX_DELAY )
\r
1554 /* Add ourselves to the suspended task list instead of a delayed task
\r
1555 list to ensure we are not woken by a timing event. We will block
\r
1557 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1561 /* Calculate the time at which the task should be woken if the event does
\r
1562 not occur. This may overflow but this doesn't matter. */
\r
1563 xTimeToWake = xTickCount + xTicksToWait;
\r
1565 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1567 if( xTimeToWake < xTickCount )
\r
1569 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1570 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1574 /* The wake time has not overflowed, so we can use the current block list. */
\r
1575 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1581 /* Calculate the time at which the task should be woken if the event does
\r
1582 not occur. This may overflow but this doesn't matter. */
\r
1583 xTimeToWake = xTickCount + xTicksToWait;
\r
1585 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1587 if( xTimeToWake < xTickCount )
\r
1589 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1590 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1594 /* The wake time has not overflowed, so we can use the current block list. */
\r
1595 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1600 /*-----------------------------------------------------------*/
\r
1602 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1604 tskTCB *pxUnblockedTCB;
\r
1605 portBASE_TYPE xReturn;
\r
1607 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1608 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1610 /* The event list is sorted in priority order, so we can remove the
\r
1611 first in the list, remove the TCB from the delayed list, and add
\r
1612 it to the ready list.
\r
1614 If an event is for a queue that is locked then this function will never
\r
1615 get called - the lock count on the queue will get modified instead. This
\r
1616 means we can always expect exclusive access to the event list here. */
\r
1617 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1618 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1620 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1622 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1623 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1627 /* We cannot access the delayed or ready lists, so will hold this
\r
1628 task pending until the scheduler is resumed. */
\r
1629 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1632 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1634 /* Return true if the task removed from the event list has
\r
1635 a higher priority than the calling task. This allows
\r
1636 the calling task to know if it should force a context
\r
1642 xReturn = pdFALSE;
\r
1647 /*-----------------------------------------------------------*/
\r
1649 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1651 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1652 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1654 /*-----------------------------------------------------------*/
\r
1656 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1658 portBASE_TYPE xReturn;
\r
1660 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1661 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1662 the maximum block time then the task should block indefinitely, and
\r
1663 therefore never time out. */
\r
1664 if( *pxTicksToWait == portMAX_DELAY )
\r
1666 xReturn = pdFALSE;
\r
1668 else /* We are not blocking indefinitely, perform the checks below. */
\r
1671 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xTickCount >= pxTimeOut->xTimeOnEntering ) )
\r
1673 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1674 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1675 It must have wrapped all the way around and gone past us again. This
\r
1676 passed since vTaskSetTimeout() was called. */
\r
1679 else if( ( xTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
1681 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1682 *pxTicksToWait -= ( xTickCount - pxTimeOut->xTimeOnEntering );
\r
1683 vTaskSetTimeOutState( pxTimeOut );
\r
1684 xReturn = pdFALSE;
\r
1693 /*-----------------------------------------------------------*/
\r
1695 void vTaskMissedYield( void )
\r
1697 xMissedYield = pdTRUE;
\r
1701 * -----------------------------------------------------------
\r
1703 * ----------------------------------------------------------
\r
1705 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1706 * language extensions. The equivalent prototype for this function is:
\r
1708 * void prvIdleTask( void *pvParameters );
\r
1711 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1713 /* Stop warnings. */
\r
1714 ( void ) pvParameters;
\r
1718 /* See if any tasks have been deleted. */
\r
1719 prvCheckTasksWaitingTermination();
\r
1721 #if ( configUSE_PREEMPTION == 0 )
\r
1723 /* If we are not using preemption we keep forcing a task switch to
\r
1724 see if any other task has become available. If we are using
\r
1725 preemption we don't need to do this as any task becoming available
\r
1726 will automatically get the processor anyway. */
\r
1731 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1733 /* When using preemption tasks of equal priority will be
\r
1734 timesliced. If a task that is sharing the idle priority is ready
\r
1735 to run then the idle task should yield before the end of the
\r
1738 A critical region is not required here as we are just reading from
\r
1739 the list, and an occasional incorrect value will not matter. If
\r
1740 the ready list at the idle priority contains more than one task
\r
1741 then a task other than the idle task is ready to execute. */
\r
1742 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1749 #if ( configUSE_IDLE_HOOK == 1 )
\r
1751 extern void vApplicationIdleHook( void );
\r
1753 /* Call the user defined function from within the idle task. This
\r
1754 allows the application designer to add background functionality
\r
1755 without the overhead of a separate task.
\r
1756 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1757 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1758 vApplicationIdleHook();
\r
1762 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1770 /*-----------------------------------------------------------
\r
1771 * File private functions documented at the top of the file.
\r
1772 *----------------------------------------------------------*/
\r
1776 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority )
\r
1778 /* Store the function name in the TCB. */
\r
1779 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned portSHORT ) configMAX_TASK_NAME_LEN );
\r
1780 pxTCB->pcTaskName[ ( unsigned portSHORT ) configMAX_TASK_NAME_LEN - ( unsigned portSHORT ) 1 ] = '\0';
\r
1782 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
1784 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
\r
1788 /* This is used as an array index so must ensure it's not too large. */
\r
1789 if( uxPriority >= configMAX_PRIORITIES )
\r
1791 uxPriority = configMAX_PRIORITIES - 1;
\r
1794 pxTCB->uxPriority = uxPriority;
\r
1795 #if ( configUSE_MUTEXES == 1 )
\r
1797 pxTCB->uxBasePriority = uxPriority;
\r
1801 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
1802 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
1804 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
1805 back to the containing TCB from a generic item in a list. */
\r
1806 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
1808 /* Event lists are always in priority order. */
\r
1809 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
1810 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
1812 /*-----------------------------------------------------------*/
\r
1814 static void prvInitialiseTaskLists( void )
\r
1816 unsigned portBASE_TYPE uxPriority;
\r
1818 for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
1820 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
1823 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
1824 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
1825 vListInitialise( ( xList * ) &xPendingReadyList );
\r
1827 #if ( INCLUDE_vTaskDelete == 1 )
\r
1829 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
1833 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1835 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
1839 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
1841 pxDelayedTaskList = &xDelayedTaskList1;
\r
1842 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
1844 /*-----------------------------------------------------------*/
\r
1846 static void prvCheckTasksWaitingTermination( void )
\r
1848 #if ( INCLUDE_vTaskDelete == 1 )
\r
1850 portBASE_TYPE xListIsEmpty;
\r
1852 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
1853 too often in the idle task. */
\r
1854 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
\r
1856 vTaskSuspendAll();
\r
1857 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
1860 if( !xListIsEmpty )
\r
1864 portENTER_CRITICAL();
\r
1866 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
1867 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1868 --uxCurrentNumberOfTasks;
\r
1871 portEXIT_CRITICAL();
\r
1873 prvDeleteTCB( pxTCB );
\r
1879 /*-----------------------------------------------------------*/
\r
1881 static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth )
\r
1885 /* Allocate space for the TCB. Where the memory comes from depends on
\r
1886 the implementation of the port malloc function. */
\r
1887 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
1889 if( pxNewTCB != NULL )
\r
1891 /* Allocate space for the stack used by the task being created.
\r
1892 The base of the stack memory stored in the TCB so the task can
\r
1893 be deleted later if required. */
\r
1894 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMalloc( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) );
\r
1896 if( pxNewTCB->pxStack == NULL )
\r
1898 /* Could not allocate the stack. Delete the allocated TCB. */
\r
1899 vPortFree( pxNewTCB );
\r
1904 /* Just to help debugging. */
\r
1905 memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
\r
1911 /*-----------------------------------------------------------*/
\r
1913 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1915 static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus )
\r
1917 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
1918 static portCHAR pcStatusString[ 50 ];
\r
1919 unsigned portSHORT usStackRemaining;
\r
1921 /* Write the details of all the TCB's in pxList into the buffer. */
\r
1922 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
1925 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
1926 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned portCHAR * ) pxNextTCB->pxStack );
\r
1927 sprintf( pcStatusString, ( portCHAR * ) "%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
1928 strcat( ( portCHAR * ) pcWriteBuffer, ( portCHAR * ) pcStatusString );
\r
1930 } while( pxNextTCB != pxFirstTCB );
\r
1934 /*-----------------------------------------------------------*/
\r
1936 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxGetStackHighWaterMark == 1 ) )
\r
1937 unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte )
\r
1939 register unsigned portSHORT usCount = 0;
\r
1941 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
1943 pucStackByte -= portSTACK_GROWTH;
\r
1947 usCount /= sizeof( portSTACK_TYPE );
\r
1952 /*-----------------------------------------------------------*/
\r
1954 #if ( INCLUDE_uxGetStackHighWaterMark == 1 )
\r
1955 unsigned portBASE_TYPE uxGetStackHighWaterMark( void )
\r
1957 return usTaskCheckFreeStackSpace( pxCurrentTCB->pxStack );
\r
1960 /*-----------------------------------------------------------*/
\r
1962 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
\r
1964 static void prvDeleteTCB( tskTCB *pxTCB )
\r
1966 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
1967 the task to free any memory allocated at the application level. */
\r
1968 vPortFree( pxTCB->pxStack );
\r
1969 vPortFree( pxTCB );
\r
1975 /*-----------------------------------------------------------*/
\r
1977 #if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
\r
1979 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
1981 xTaskHandle xReturn;
\r
1983 portENTER_CRITICAL();
\r
1985 xReturn = ( xTaskHandle ) pxCurrentTCB;
\r
1987 portEXIT_CRITICAL();
\r
1994 /*-----------------------------------------------------------*/
\r
1996 #if ( INCLUDE_xTaskGetSchedulerState == 1 )
\r
1998 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2000 portBASE_TYPE xReturn;
\r
2002 if( xSchedulerRunning == pdFALSE )
\r
2004 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2008 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2010 xReturn = taskSCHEDULER_RUNNING;
\r
2014 xReturn = taskSCHEDULER_SUSPENDED;
\r
2022 /*-----------------------------------------------------------*/
\r
2024 #if ( configUSE_MUTEXES == 1 )
\r
2026 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2028 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2030 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2032 /* Adjust the mutex holder state to account for its new priority. */
\r
2033 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2035 /* If the task being modified is in the ready state it will need to
\r
2036 be moved in to a new list. */
\r
2037 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
2039 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2041 /* Inherit the priority before being moved into the new list. */
\r
2042 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2043 prvAddTaskToReadyQueue( pxTCB );
\r
2047 /* Just inherit the priority. */
\r
2048 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2054 /*-----------------------------------------------------------*/
\r
2056 #if ( configUSE_MUTEXES == 1 )
\r
2058 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2060 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2062 if( pxMutexHolder != NULL )
\r
2064 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2066 /* We must be the running task to be able to give the mutex back.
\r
2067 Remove ourselves from the ready list we currently appear in. */
\r
2068 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2070 /* Disinherit the priority before adding ourselves into the new
\r
2072 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2073 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2074 prvAddTaskToReadyQueue( pxTCB );
\r
2080 /*-----------------------------------------------------------*/
\r
2082 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2084 void vTaskEnterCritical( void )
\r
2086 portDISABLE_INTERRUPTS();
\r
2088 if( xSchedulerRunning != pdFALSE )
\r
2090 pxCurrentTCB->uxCriticalNesting++;
\r
2095 /*-----------------------------------------------------------*/
\r
2097 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2099 void vTaskExitCritical( void )
\r
2101 if( xSchedulerRunning != pdFALSE )
\r
2103 if( pxCurrentTCB->uxCriticalNesting > 0 )
\r
2105 pxCurrentTCB->uxCriticalNesting--;
\r
2107 if( pxCurrentTCB->uxCriticalNesting == 0 )
\r
2109 portENABLE_INTERRUPTS();
\r
2116 /*-----------------------------------------------------------*/
\r
projects / freertos / blob