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 )
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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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624 portEXIT_CRITICAL();
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628 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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631 if( xReturn == pdPASS )
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633 if( ( void * ) pxCreatedTask != NULL )
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635 /* Pass the TCB out - in an anonymous way. The calling function/
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636 task can use this as a handle to delete the task later if
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638 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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641 if( xSchedulerRunning != pdFALSE )
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643 /* If the created task is of a higher priority than the current task
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644 then it should run now. */
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645 if( pxCurrentTCB->uxPriority < uxPriority )
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654 /*-----------------------------------------------------------*/
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656 #if ( INCLUDE_vTaskDelete == 1 )
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658 void vTaskDelete( xTaskHandle pxTaskToDelete )
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662 taskENTER_CRITICAL();
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664 /* Ensure a yield is performed if the current task is being
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666 if( pxTaskToDelete == pxCurrentTCB )
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668 pxTaskToDelete = NULL;
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671 /* If null is passed in here then we are deleting ourselves. */
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672 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
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674 /* Remove task from the ready list and place in the termination list.
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675 This will stop the task from be scheduled. The idle task will check
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676 the termination list and free up any memory allocated by the
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677 scheduler for the TCB and stack. */
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678 vListRemove( &( pxTCB->xGenericListItem ) );
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680 /* Is the task waiting on an event also? */
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681 if( pxTCB->xEventListItem.pvContainer )
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683 vListRemove( &( pxTCB->xEventListItem ) );
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686 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
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688 /* Increment the ucTasksDeleted variable so the idle task knows
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689 there is a task that has been deleted and that it should therefore
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690 check the xTasksWaitingTermination list. */
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693 taskEXIT_CRITICAL();
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695 /* Force a reschedule if we have just deleted the current task. */
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696 if( xSchedulerRunning != pdFALSE )
\r
698 if( ( void * ) pxTaskToDelete == NULL )
\r
712 /*-----------------------------------------------------------
\r
713 * TASK CONTROL API documented in task.h
\r
714 *----------------------------------------------------------*/
\r
716 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
718 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
720 portTickType xTimeToWake;
\r
721 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
725 /* Generate the tick time at which the task wants to wake. */
\r
726 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
728 if( xTickCount < *pxPreviousWakeTime )
\r
730 /* The tick count has overflowed since this function was
\r
731 lasted called. In this case the only time we should ever
\r
732 actually delay is if the wake time has also overflowed,
\r
733 and the wake time is greater than the tick time. When this
\r
734 is the case it is as if neither time had overflowed. */
\r
735 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
737 xShouldDelay = pdTRUE;
\r
742 /* The tick time has not overflowed. In this case we will
\r
743 delay if either the wake time has overflowed, and/or the
\r
744 tick time is less than the wake time. */
\r
745 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
747 xShouldDelay = pdTRUE;
\r
751 /* Update the wake time ready for the next call. */
\r
752 *pxPreviousWakeTime = xTimeToWake;
\r
756 /* We must remove ourselves from the ready list before adding
\r
757 ourselves to the blocked list as the same list item is used for
\r
759 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
761 /* The list item will be inserted in wake time order. */
\r
762 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
764 if( xTimeToWake < xTickCount )
\r
766 /* Wake time has overflowed. Place this item in the
\r
768 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
772 /* The wake time has not overflowed, so we can use the
\r
773 current block list. */
\r
774 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
778 xAlreadyYielded = xTaskResumeAll();
\r
780 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
781 have put ourselves to sleep. */
\r
782 if( !xAlreadyYielded )
\r
789 /*-----------------------------------------------------------*/
\r
791 #if ( INCLUDE_vTaskDelay == 1 )
\r
793 void vTaskDelay( portTickType xTicksToDelay )
\r
795 portTickType xTimeToWake;
\r
796 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
798 /* A delay time of zero just forces a reschedule. */
\r
799 if( xTicksToDelay > ( portTickType ) 0 )
\r
803 /* A task that is removed from the event list while the
\r
804 scheduler is suspended will not get placed in the ready
\r
805 list or removed from the blocked list until the scheduler
\r
808 This task cannot be in an event list as it is the currently
\r
811 /* Calculate the time to wake - this may overflow but this is
\r
813 xTimeToWake = xTickCount + xTicksToDelay;
\r
815 /* We must remove ourselves from the ready list before adding
\r
816 ourselves to the blocked list as the same list item is used for
\r
818 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
820 /* The list item will be inserted in wake time order. */
\r
821 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
823 if( xTimeToWake < xTickCount )
\r
825 /* Wake time has overflowed. Place this item in the
\r
827 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
831 /* The wake time has not overflowed, so we can use the
\r
832 current block list. */
\r
833 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
836 xAlreadyYielded = xTaskResumeAll();
\r
839 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
840 have put ourselves to sleep. */
\r
841 if( !xAlreadyYielded )
\r
848 /*-----------------------------------------------------------*/
\r
850 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
852 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
855 unsigned portBASE_TYPE uxReturn;
\r
857 taskENTER_CRITICAL();
\r
859 /* If null is passed in here then we are changing the
\r
860 priority of the calling function. */
\r
861 pxTCB = prvGetTCBFromHandle( pxTask );
\r
862 uxReturn = pxTCB->uxPriority;
\r
864 taskEXIT_CRITICAL();
\r
870 /*-----------------------------------------------------------*/
\r
872 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
874 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
877 unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
\r
879 /* Ensure the new priority is valid. */
\r
880 if( uxNewPriority >= configMAX_PRIORITIES )
\r
882 uxNewPriority = configMAX_PRIORITIES - 1;
\r
885 taskENTER_CRITICAL();
\r
887 /* If null is passed in here then we are changing the
\r
888 priority of the calling function. */
\r
889 pxTCB = prvGetTCBFromHandle( pxTask );
\r
891 #if ( configUSE_MUTEXES == 1 )
\r
893 uxCurrentPriority = pxTCB->uxBasePriority;
\r
897 uxCurrentPriority = pxTCB->uxPriority;
\r
901 if( uxCurrentPriority != uxNewPriority )
\r
903 /* The priority change may have readied a task of higher
\r
904 priority than the calling task. */
\r
905 if( uxNewPriority > uxCurrentPriority )
\r
907 if( pxTask != NULL )
\r
909 /* The priority of another task is being raised. If we
\r
910 were raising the priority of the currently running task
\r
911 there would be no need to switch as it must have already
\r
912 been the highest priority task. */
\r
913 xYieldRequired = pdTRUE;
\r
916 else if( pxTask == NULL )
\r
918 /* Setting our own priority down means there may now be another
\r
919 task of higher priority that is ready to execute. */
\r
920 xYieldRequired = pdTRUE;
\r
925 #if ( configUSE_MUTEXES == 1 )
\r
927 /* Only change the priority being used if the task is not
\r
928 currently using an inherited priority. */
\r
929 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
931 pxTCB->uxPriority = uxNewPriority;
\r
934 /* The base priority gets set whatever. */
\r
935 pxTCB->uxBasePriority = uxNewPriority;
\r
939 pxTCB->uxPriority = uxNewPriority;
\r
943 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
945 /* If the task is in the blocked or suspended list we need do
\r
946 nothing more than change it's priority variable. However, if
\r
947 the task is in a ready list it needs to be removed and placed
\r
948 in the queue appropriate to its new priority. */
\r
949 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
951 /* The task is currently in its ready list - remove before adding
\r
952 it to it's new ready list. As we are in a critical section we
\r
953 can do this even if the scheduler is suspended. */
\r
954 vListRemove( &( pxTCB->xGenericListItem ) );
\r
955 prvAddTaskToReadyQueue( pxTCB );
\r
958 if( xYieldRequired == pdTRUE )
\r
964 taskEXIT_CRITICAL();
\r
968 /*-----------------------------------------------------------*/
\r
970 #if ( INCLUDE_vTaskSuspend == 1 )
\r
972 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
976 taskENTER_CRITICAL();
\r
978 /* Ensure a yield is performed if the current task is being
\r
980 if( pxTaskToSuspend == pxCurrentTCB )
\r
982 pxTaskToSuspend = NULL;
\r
985 /* If null is passed in here then we are suspending ourselves. */
\r
986 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
988 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
989 vListRemove( &( pxTCB->xGenericListItem ) );
\r
991 /* Is the task waiting on an event also? */
\r
992 if( pxTCB->xEventListItem.pvContainer )
\r
994 vListRemove( &( pxTCB->xEventListItem ) );
\r
997 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
999 taskEXIT_CRITICAL();
\r
1001 /* We may have just suspended the current task. */
\r
1002 if( ( void * ) pxTaskToSuspend == NULL )
\r
1009 /*-----------------------------------------------------------*/
\r
1011 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1013 static portBASE_TYPE prvIsTaskSuspended( const tskTCB * const pxTCB )
\r
1015 portBASE_TYPE xReturn = pdFALSE;
\r
1017 /* Is the task we are attempting to resume actually in the
\r
1018 suspended list? */
\r
1019 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1021 /* Has the task already been resumed from within an ISR? */
\r
1022 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
1024 /* Is it in the suspended list because it is in the
\r
1025 Suspended state? It is possible to be in the suspended
\r
1026 list because it is blocked on a task with no timeout
\r
1028 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
1039 /*-----------------------------------------------------------*/
\r
1041 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1043 void vTaskResume( xTaskHandle pxTaskToResume )
\r
1047 /* Remove the task from whichever list it is currently in, and place
\r
1048 it in the ready list. */
\r
1049 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1051 /* The parameter cannot be NULL as it is impossible to resume the
\r
1052 currently executing task. */
\r
1053 if( pxTCB != NULL )
\r
1055 taskENTER_CRITICAL();
\r
1057 if( prvIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1059 /* As we are in a critical section we can access the ready
\r
1060 lists even if the scheduler is suspended. */
\r
1061 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1062 prvAddTaskToReadyQueue( pxTCB );
\r
1064 /* We may have just resumed a higher priority task. */
\r
1065 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1067 /* This yield may not cause the task just resumed to run, but
\r
1068 will leave the lists in the correct state for the next yield. */
\r
1073 taskEXIT_CRITICAL();
\r
1079 /*-----------------------------------------------------------*/
\r
1081 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1083 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
1085 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1088 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1090 if( prvIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1092 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1094 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1095 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1096 prvAddTaskToReadyQueue( pxTCB );
\r
1100 /* We cannot access the delayed or ready lists, so will hold this
\r
1101 task pending until the scheduler is resumed, at which point a
\r
1102 yield will be performed if necessary. */
\r
1103 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1107 return xYieldRequired;
\r
1115 /*-----------------------------------------------------------
\r
1116 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1117 *----------------------------------------------------------*/
\r
1120 void vTaskStartScheduler( void )
\r
1122 portBASE_TYPE xReturn;
\r
1124 /* Add the idle task at the lowest priority. */
\r
1125 xReturn = xTaskCreate( prvIdleTask, ( signed portCHAR * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
\r
1127 if( xReturn == pdPASS )
\r
1129 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1130 before or during the call to xPortStartScheduler(). The stacks of
\r
1131 the created tasks contain a status word with interrupts switched on
\r
1132 so interrupts will automatically get re-enabled when the first task
\r
1135 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1136 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1137 portDISABLE_INTERRUPTS();
\r
1139 xSchedulerRunning = pdTRUE;
\r
1140 xTickCount = ( portTickType ) 0;
\r
1142 /* Setting up the timer tick is hardware specific and thus in the
\r
1143 portable interface. */
\r
1144 if( xPortStartScheduler() )
\r
1146 /* Should not reach here as if the scheduler is running the
\r
1147 function will not return. */
\r
1151 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1155 /*-----------------------------------------------------------*/
\r
1157 void vTaskEndScheduler( void )
\r
1159 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1160 routine so the original ISRs can be restored if necessary. The port
\r
1161 layer must ensure interrupts enable bit is left in the correct state. */
\r
1162 portDISABLE_INTERRUPTS();
\r
1163 xSchedulerRunning = pdFALSE;
\r
1164 vPortEndScheduler();
\r
1166 /*----------------------------------------------------------*/
\r
1168 void vTaskSuspendAll( void )
\r
1170 portENTER_CRITICAL();
\r
1171 ++uxSchedulerSuspended;
\r
1172 portEXIT_CRITICAL();
\r
1174 /*----------------------------------------------------------*/
\r
1176 signed portBASE_TYPE xTaskResumeAll( void )
\r
1178 register tskTCB *pxTCB;
\r
1179 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1181 /* It is possible that an ISR caused a task to be removed from an event
\r
1182 list while the scheduler was suspended. If this was the case then the
\r
1183 removed task will have been added to the xPendingReadyList. Once the
\r
1184 scheduler has been resumed it is safe to move all the pending ready
\r
1185 tasks from this list into their appropriate ready list. */
\r
1186 portENTER_CRITICAL();
\r
1188 --uxSchedulerSuspended;
\r
1190 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1192 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
\r
1194 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1196 /* Move any readied tasks from the pending list into the
\r
1197 appropriate ready list. */
\r
1198 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL )
\r
1200 vListRemove( &( pxTCB->xEventListItem ) );
\r
1201 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1202 prvAddTaskToReadyQueue( pxTCB );
\r
1204 /* If we have moved a task that has a priority higher than
\r
1205 the current task then we should yield. */
\r
1206 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1208 xYieldRequired = pdTRUE;
\r
1212 /* If any ticks occurred while the scheduler was suspended then
\r
1213 they should be processed now. This ensures the tick count does not
\r
1214 slip, and that any delayed tasks are resumed at the correct time. */
\r
1215 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1217 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1219 vTaskIncrementTick();
\r
1223 /* As we have processed some ticks it is appropriate to yield
\r
1224 to ensure the highest priority task that is ready to run is
\r
1225 the task actually running. */
\r
1226 #if configUSE_PREEMPTION == 1
\r
1228 xYieldRequired = pdTRUE;
\r
1233 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1235 xAlreadyYielded = pdTRUE;
\r
1236 xMissedYield = pdFALSE;
\r
1242 portEXIT_CRITICAL();
\r
1244 return xAlreadyYielded;
\r
1252 /*-----------------------------------------------------------
\r
1253 * PUBLIC TASK UTILITIES documented in task.h
\r
1254 *----------------------------------------------------------*/
\r
1258 portTickType xTaskGetTickCount( void )
\r
1260 portTickType xTicks;
\r
1262 /* Critical section required if running on a 16 bit processor. */
\r
1263 taskENTER_CRITICAL();
\r
1265 xTicks = xTickCount;
\r
1267 taskEXIT_CRITICAL();
\r
1271 /*-----------------------------------------------------------*/
\r
1273 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1275 unsigned portBASE_TYPE uxNumberOfTasks;
\r
1277 taskENTER_CRITICAL();
\r
1278 uxNumberOfTasks = uxCurrentNumberOfTasks;
\r
1279 taskEXIT_CRITICAL();
\r
1281 return uxNumberOfTasks;
\r
1283 /*-----------------------------------------------------------*/
\r
1285 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_vTaskDelete == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1287 void vTaskList( signed portCHAR *pcWriteBuffer )
\r
1289 unsigned portBASE_TYPE uxQueue;
\r
1291 /* This is a VERY costly function that should be used for debug only.
\r
1292 It leaves interrupts disabled for a LONG time. */
\r
1294 vTaskSuspendAll();
\r
1296 /* Run through all the lists that could potentially contain a TCB and
\r
1297 report the task name, state and stack high water mark. */
\r
1299 pcWriteBuffer[ 0 ] = ( signed portCHAR ) 0x00;
\r
1300 strcat( ( portCHAR * ) pcWriteBuffer, ( const portCHAR * ) "\r\n" );
\r
1302 uxQueue = uxTopUsedPriority + 1;
\r
1308 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1310 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1312 }while( uxQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
\r
1314 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1316 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1319 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1321 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1324 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1326 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1329 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1331 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1338 /*----------------------------------------------------------*/
\r
1340 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1342 void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize )
\r
1344 portENTER_CRITICAL();
\r
1346 pcTraceBuffer = ( signed portCHAR * )pcBuffer;
\r
1347 pcTraceBufferStart = pcBuffer;
\r
1348 pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
\r
1349 xTracing = pdTRUE;
\r
1351 portEXIT_CRITICAL();
\r
1355 /*----------------------------------------------------------*/
\r
1357 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1359 unsigned portLONG ulTaskEndTrace( void )
\r
1361 unsigned portLONG ulBufferLength;
\r
1363 portENTER_CRITICAL();
\r
1364 xTracing = pdFALSE;
\r
1365 portEXIT_CRITICAL();
\r
1367 ulBufferLength = ( unsigned portLONG ) ( pcTraceBuffer - pcTraceBufferStart );
\r
1369 return ulBufferLength;
\r
1376 /*-----------------------------------------------------------
\r
1377 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1378 * documented in task.h
\r
1379 *----------------------------------------------------------*/
\r
1382 inline void vTaskIncrementTick( void )
\r
1384 /* Called by the portable layer each time a tick interrupt occurs.
\r
1385 Increments the tick then checks to see if the new tick value will cause any
\r
1386 tasks to be unblocked. */
\r
1387 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1390 if( xTickCount == ( portTickType ) 0 )
\r
1394 /* Tick count has overflowed so we need to swap the delay lists.
\r
1395 If there are any items in pxDelayedTaskList here then there is
\r
1397 pxTemp = pxDelayedTaskList;
\r
1398 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1399 pxOverflowDelayedTaskList = pxTemp;
\r
1400 xNumOfOverflows++;
\r
1403 /* See if this tick has made a timeout expire. */
\r
1404 prvCheckDelayedTasks();
\r
1410 /* The tick hook gets called at regular intervals, even if the
\r
1411 scheduler is locked. */
\r
1412 #if ( configUSE_TICK_HOOK == 1 )
\r
1414 extern void vApplicationTickHook( void );
\r
1416 vApplicationTickHook();
\r
1421 #if ( configUSE_TICK_HOOK == 1 )
\r
1423 extern void vApplicationTickHook( void );
\r
1425 /* Guard against the tick hook being called when the missed tick
\r
1426 count is being unwound (when the scheduler is being unlocked. */
\r
1427 if( uxMissedTicks == 0 )
\r
1429 vApplicationTickHook();
\r
1434 /*-----------------------------------------------------------*/
\r
1436 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1438 void vTaskCleanUpResources( void )
\r
1440 unsigned portSHORT usQueue;
\r
1441 volatile tskTCB *pxTCB;
\r
1443 usQueue = ( unsigned portSHORT ) uxTopUsedPriority + ( unsigned portSHORT ) 1;
\r
1445 /* Remove any TCB's from the ready queues. */
\r
1450 while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
\r
1452 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
\r
1453 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1455 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1457 }while( usQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
\r
1459 /* Remove any TCB's from the delayed queue. */
\r
1460 while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
\r
1462 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
\r
1463 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1465 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1468 /* Remove any TCB's from the overflow delayed queue. */
\r
1469 while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
\r
1471 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
\r
1472 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1474 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1477 while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1479 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
\r
1480 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1482 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1487 /*-----------------------------------------------------------*/
\r
1489 void vTaskSwitchContext( void )
\r
1491 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1493 /* The scheduler is currently suspended - do not allow a context
\r
1495 xMissedYield = pdTRUE;
\r
1499 /* Find the highest priority queue that contains ready tasks. */
\r
1500 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1502 --uxTopReadyPriority;
\r
1505 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1506 same priority get an equal share of the processor time. */
\r
1507 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1508 vWriteTraceToBuffer();
\r
1510 /*-----------------------------------------------------------*/
\r
1512 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1514 portTickType xTimeToWake;
\r
1516 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1517 SCHEDULER SUSPENDED. */
\r
1519 /* Place the event list item of the TCB in the appropriate event list.
\r
1520 This is placed in the list in priority order so the highest priority task
\r
1521 is the first to be woken by the event. */
\r
1522 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1524 /* We must remove ourselves from the ready list before adding ourselves
\r
1525 to the blocked list as the same list item is used for both lists. We have
\r
1526 exclusive access to the ready lists as the scheduler is locked. */
\r
1527 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1530 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1532 if( xTicksToWait == portMAX_DELAY )
\r
1534 /* Add ourselves to the suspended task list instead of a delayed task
\r
1535 list to ensure we are not woken by a timing event. We will block
\r
1537 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1541 /* Calculate the time at which the task should be woken if the event does
\r
1542 not occur. This may overflow but this doesn't matter. */
\r
1543 xTimeToWake = xTickCount + xTicksToWait;
\r
1545 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1547 if( xTimeToWake < xTickCount )
\r
1549 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1550 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1554 /* The wake time has not overflowed, so we can use the current block list. */
\r
1555 vListInsert( ( xList * ) pxDelayedTaskList, ( 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
1580 /*-----------------------------------------------------------*/
\r
1582 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1584 tskTCB *pxUnblockedTCB;
\r
1585 portBASE_TYPE xReturn;
\r
1587 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1588 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1590 /* The event list is sorted in priority order, so we can remove the
\r
1591 first in the list, remove the TCB from the delayed list, and add
\r
1592 it to the ready list.
\r
1594 If an event is for a queue that is locked then this function will never
\r
1595 get called - the lock count on the queue will get modified instead. This
\r
1596 means we can always expect exclusive access to the event list here. */
\r
1597 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1598 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1600 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1602 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1603 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1607 /* We cannot access the delayed or ready lists, so will hold this
\r
1608 task pending until the scheduler is resumed. */
\r
1609 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1612 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1614 /* Return true if the task removed from the event list has
\r
1615 a higher priority than the calling task. This allows
\r
1616 the calling task to know if it should force a context
\r
1622 xReturn = pdFALSE;
\r
1627 /*-----------------------------------------------------------*/
\r
1629 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1631 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1632 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1634 /*-----------------------------------------------------------*/
\r
1636 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1638 portBASE_TYPE xReturn;
\r
1640 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1641 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1642 the maximum block time then the task should block indefinitely, and
\r
1643 therefore never time out. */
\r
1644 if( *pxTicksToWait == portMAX_DELAY )
\r
1646 xReturn = pdFALSE;
\r
1648 else /* We are not blocking indefinitely, perform the checks below. */
\r
1651 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xTickCount >= pxTimeOut->xTimeOnEntering ) )
\r
1653 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1654 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1655 It must have wrapped all the way around and gone past us again. This
\r
1656 passed since vTaskSetTimeout() was called. */
\r
1659 else if( ( xTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
1661 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1662 *pxTicksToWait -= ( xTickCount - pxTimeOut->xTimeOnEntering );
\r
1663 vTaskSetTimeOutState( pxTimeOut );
\r
1664 xReturn = pdFALSE;
\r
1673 /*-----------------------------------------------------------*/
\r
1675 void vTaskMissedYield( void )
\r
1677 xMissedYield = pdTRUE;
\r
1681 * -----------------------------------------------------------
\r
1683 * ----------------------------------------------------------
\r
1685 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1686 * language extensions. The equivalent prototype for this function is:
\r
1688 * void prvIdleTask( void *pvParameters );
\r
1691 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1693 /* Stop warnings. */
\r
1694 ( void ) pvParameters;
\r
1698 /* See if any tasks have been deleted. */
\r
1699 prvCheckTasksWaitingTermination();
\r
1701 #if ( configUSE_PREEMPTION == 0 )
\r
1703 /* If we are not using preemption we keep forcing a task switch to
\r
1704 see if any other task has become available. If we are using
\r
1705 preemption we don't need to do this as any task becoming available
\r
1706 will automatically get the processor anyway. */
\r
1711 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1713 /* When using preemption tasks of equal priority will be
\r
1714 timesliced. If a task that is sharing the idle priority is ready
\r
1715 to run then the idle task should yield before the end of the
\r
1718 A critical region is not required here as we are just reading from
\r
1719 the list, and an occasional incorrect value will not matter. If
\r
1720 the ready list at the idle priority contains more than one task
\r
1721 then a task other than the idle task is ready to execute. */
\r
1722 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1729 #if ( configUSE_IDLE_HOOK == 1 )
\r
1731 extern void vApplicationIdleHook( void );
\r
1733 /* Call the user defined function from within the idle task. This
\r
1734 allows the application designer to add background functionality
\r
1735 without the overhead of a separate task.
\r
1736 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1737 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1738 vApplicationIdleHook();
\r
1742 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1750 /*-----------------------------------------------------------
\r
1751 * File private functions documented at the top of the file.
\r
1752 *----------------------------------------------------------*/
\r
1756 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority )
\r
1758 /* Store the function name in the TCB. */
\r
1759 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned portSHORT ) configMAX_TASK_NAME_LEN );
\r
1760 pxTCB->pcTaskName[ ( unsigned portSHORT ) configMAX_TASK_NAME_LEN - ( unsigned portSHORT ) 1 ] = '\0';
\r
1762 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
1764 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
\r
1768 /* This is used as an array index so must ensure it's not too large. */
\r
1769 if( uxPriority >= configMAX_PRIORITIES )
\r
1771 uxPriority = configMAX_PRIORITIES - 1;
\r
1774 pxTCB->uxPriority = uxPriority;
\r
1775 #if ( configUSE_MUTEXES == 1 )
\r
1777 pxTCB->uxBasePriority = uxPriority;
\r
1781 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
1782 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
1784 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
1785 back to the containing TCB from a generic item in a list. */
\r
1786 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
1788 /* Event lists are always in priority order. */
\r
1789 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
1790 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
1792 /*-----------------------------------------------------------*/
\r
1794 static void prvInitialiseTaskLists( void )
\r
1796 unsigned portBASE_TYPE uxPriority;
\r
1798 for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
1800 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
1803 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
1804 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
1805 vListInitialise( ( xList * ) &xPendingReadyList );
\r
1807 #if ( INCLUDE_vTaskDelete == 1 )
\r
1809 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
1813 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1815 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
1819 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
1821 pxDelayedTaskList = &xDelayedTaskList1;
\r
1822 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
1824 /*-----------------------------------------------------------*/
\r
1826 static void prvCheckTasksWaitingTermination( void )
\r
1828 #if ( INCLUDE_vTaskDelete == 1 )
\r
1830 portBASE_TYPE xListIsEmpty;
\r
1832 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
1833 too often in the idle task. */
\r
1834 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
\r
1836 vTaskSuspendAll();
\r
1837 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
1840 if( !xListIsEmpty )
\r
1844 portENTER_CRITICAL();
\r
1846 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
1847 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1848 --uxCurrentNumberOfTasks;
\r
1851 portEXIT_CRITICAL();
\r
1853 prvDeleteTCB( pxTCB );
\r
1859 /*-----------------------------------------------------------*/
\r
1861 static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth )
\r
1865 /* Allocate space for the TCB. Where the memory comes from depends on
\r
1866 the implementation of the port malloc function. */
\r
1867 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
1869 if( pxNewTCB != NULL )
\r
1871 /* Allocate space for the stack used by the task being created.
\r
1872 The base of the stack memory stored in the TCB so the task can
\r
1873 be deleted later if required. */
\r
1874 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMalloc( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) );
\r
1876 if( pxNewTCB->pxStack == NULL )
\r
1878 /* Could not allocate the stack. Delete the allocated TCB. */
\r
1879 vPortFree( pxNewTCB );
\r
1884 /* Just to help debugging. */
\r
1885 memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
\r
1891 /*-----------------------------------------------------------*/
\r
1893 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1895 static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus )
\r
1897 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
1898 static portCHAR pcStatusString[ 50 ];
\r
1899 unsigned portSHORT usStackRemaining;
\r
1901 /* Write the details of all the TCB's in pxList into the buffer. */
\r
1902 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
1905 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
1906 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned portCHAR * ) pxNextTCB->pxStack );
\r
1907 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
1908 strcat( ( portCHAR * ) pcWriteBuffer, ( portCHAR * ) pcStatusString );
\r
1910 } while( pxNextTCB != pxFirstTCB );
\r
1914 /*-----------------------------------------------------------*/
\r
1916 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1917 unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte )
\r
1919 register unsigned portSHORT usCount = 0;
\r
1921 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
1923 pucStackByte -= portSTACK_GROWTH;
\r
1927 usCount /= sizeof( portSTACK_TYPE );
\r
1932 /*-----------------------------------------------------------*/
\r
1936 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
\r
1938 static void prvDeleteTCB( tskTCB *pxTCB )
\r
1940 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
1941 the task to free any memory allocated at the application level. */
\r
1942 vPortFree( pxTCB->pxStack );
\r
1943 vPortFree( pxTCB );
\r
1949 /*-----------------------------------------------------------*/
\r
1951 #if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
\r
1953 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
1955 xTaskHandle xReturn;
\r
1957 portENTER_CRITICAL();
\r
1959 xReturn = ( xTaskHandle ) pxCurrentTCB;
\r
1961 portEXIT_CRITICAL();
\r
1968 /*-----------------------------------------------------------*/
\r
1970 #if ( INCLUDE_xTaskGetSchedulerState == 1 )
\r
1972 portBASE_TYPE xTaskGetSchedulerState( void )
\r
1974 portBASE_TYPE xReturn;
\r
1976 if( xSchedulerRunning == pdFALSE )
\r
1978 xReturn = taskSCHEDULER_NOT_STARTED;
\r
1982 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1984 xReturn = taskSCHEDULER_RUNNING;
\r
1988 xReturn = taskSCHEDULER_SUSPENDED;
\r
1996 /*-----------------------------------------------------------*/
\r
1998 #if ( configUSE_MUTEXES == 1 )
\r
2000 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2002 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2004 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2006 /* Adjust the mutex holder state to account for its new priority. */
\r
2007 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2009 /* If the task being modified is in the ready state it will need to
\r
2010 be moved in to a new list. */
\r
2011 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
2013 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2015 /* Inherit the priority before being moved into the new list. */
\r
2016 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2017 prvAddTaskToReadyQueue( pxTCB );
\r
2021 /* Just inherit the priority. */
\r
2022 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2028 /*-----------------------------------------------------------*/
\r
2030 #if ( configUSE_MUTEXES == 1 )
\r
2032 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2034 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2036 if( pxMutexHolder != NULL )
\r
2038 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2040 /* We must be the running task to be able to give the mutex back.
\r
2041 Remove ourselves from the ready list we currently appear in. */
\r
2042 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2044 /* Disinherit the priority before adding ourselves into the new
\r
2046 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2047 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2048 prvAddTaskToReadyQueue( pxTCB );
\r
2054 /*-----------------------------------------------------------*/
\r
2056 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2058 void vTaskEnterCritical( void )
\r
2060 portDISABLE_INTERRUPTS();
\r
2062 if( xSchedulerRunning != pdFALSE )
\r
2064 pxCurrentTCB->uxCriticalNesting++;
\r
2069 /*-----------------------------------------------------------*/
\r
2071 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2073 void vTaskExitCritical( void )
\r
2075 if( xSchedulerRunning != pdFALSE )
\r
2077 if( pxCurrentTCB->uxCriticalNesting > 0 )
\r
2079 pxCurrentTCB->uxCriticalNesting--;
\r
2081 if( pxCurrentTCB->uxCriticalNesting == 0 )
\r
2083 portENABLE_INTERRUPTS();
\r
2090 /*-----------------------------------------------------------*/
\r
projects / freertos / blob