2 FreeRTOS.org V4.7.1 - 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 ( configUSE_TRACE_FACILITY == 1 )
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270 unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
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273 #if ( configUSE_MUTEXES == 1 )
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274 unsigned portBASE_TYPE uxBasePriority;
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281 tskTCB * volatile pxCurrentTCB = NULL;
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283 /* Lists for ready and blocked tasks. --------------------*/
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285 static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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286 static xList xDelayedTaskList1; /*< Delayed tasks. */
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287 static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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288 static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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289 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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290 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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292 #if ( INCLUDE_vTaskDelete == 1 )
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294 static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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295 static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
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299 #if ( INCLUDE_vTaskSuspend == 1 )
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301 static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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305 /* File private variables. --------------------------------*/
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306 static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
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307 static volatile portTickType xTickCount = ( portTickType ) 0;
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308 static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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309 static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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310 static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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311 static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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312 static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
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313 static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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314 static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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315 /* Debugging and trace facilities private variables and macros. ------------*/
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318 * The value used to fill the stack of a task when the task is created. This
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319 * is used purely for checking the high water mark for tasks.
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321 #define tskSTACK_FILL_BYTE ( 0xa5 )
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324 * Macros used by vListTask to indicate which state a task is in.
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326 #define tskBLOCKED_CHAR ( ( signed portCHAR ) 'B' )
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327 #define tskREADY_CHAR ( ( signed portCHAR ) 'R' )
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328 #define tskDELETED_CHAR ( ( signed portCHAR ) 'D' )
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329 #define tskSUSPENDED_CHAR ( ( signed portCHAR ) 'S' )
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332 * Macros and private variables used by the trace facility.
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334 #if ( configUSE_TRACE_FACILITY == 1 )
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336 #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned portLONG ) ( sizeof( unsigned portLONG ) + sizeof( unsigned portLONG ) ) )
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337 static volatile signed portCHAR * volatile pcTraceBuffer;
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338 static signed portCHAR *pcTraceBufferStart;
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339 static signed portCHAR *pcTraceBufferEnd;
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340 static signed portBASE_TYPE xTracing = pdFALSE;
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345 * Macro that writes a trace of scheduler activity to a buffer. This trace
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346 * shows which task is running when and is very useful as a debugging tool.
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347 * As this macro is called each context switch it is a good idea to undefine
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348 * it if not using the facility.
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350 #if ( configUSE_TRACE_FACILITY == 1 )
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352 #define vWriteTraceToBuffer() \
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356 static unsigned portBASE_TYPE uxPreviousTask = 255; \
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358 if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
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360 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
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362 uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
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363 *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) xTickCount; \
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364 pcTraceBuffer += sizeof( unsigned portLONG ); \
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365 *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) uxPreviousTask; \
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366 pcTraceBuffer += sizeof( unsigned portLONG ); \
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370 xTracing = pdFALSE; \
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378 #define vWriteTraceToBuffer()
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384 * Place the task represented by pxTCB into the appropriate ready queue for
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385 * the task. It is inserted at the end of the list. One quirk of this is
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386 * that if the task being inserted is at the same priority as the currently
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387 * executing task, then it will only be rescheduled after the currently
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388 * executing task has been rescheduled.
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390 #define prvAddTaskToReadyQueue( pxTCB ) \
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392 if( pxTCB->uxPriority > uxTopReadyPriority ) \
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394 uxTopReadyPriority = pxTCB->uxPriority; \
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396 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \
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400 * Macro that looks at the list of tasks that are currently delayed to see if
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401 * any require waking.
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403 * Tasks are stored in the queue in the order of their wake time - meaning
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404 * once one tasks has been found whose timer has not expired we need not look
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405 * any further down the list.
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407 #define prvCheckDelayedTasks() \
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409 register tskTCB *pxTCB; \
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411 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \
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413 if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \
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417 vListRemove( &( pxTCB->xGenericListItem ) ); \
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418 /* Is the task waiting on an event also? */ \
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419 if( pxTCB->xEventListItem.pvContainer ) \
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421 vListRemove( &( pxTCB->xEventListItem ) ); \
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423 prvAddTaskToReadyQueue( pxTCB ); \
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428 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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429 * where NULL is used to indicate that the handle of the currently executing
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430 * task should be used in place of the parameter. This macro simply checks to
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431 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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433 #define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )
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436 /* File private functions. --------------------------------*/
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439 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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440 * into the TCB structure.
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442 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority );
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445 * Utility to ready all the lists used by the scheduler. This is called
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446 * automatically upon the creation of the first task.
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448 static void prvInitialiseTaskLists( void );
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451 * The idle task, which as all tasks is implemented as a never ending loop.
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452 * The idle task is automatically created and added to the ready lists upon
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453 * creation of the first user task.
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455 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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456 * language extensions. The equivalent prototype for this function is:
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458 * void prvIdleTask( void *pvParameters );
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461 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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464 * Utility to free all memory allocated by the scheduler to hold a TCB,
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465 * including the stack pointed to by the TCB.
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467 * This does not free memory allocated by the task itself (i.e. memory
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468 * allocated by calls to pvPortMalloc from within the tasks application code).
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470 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
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471 static void prvDeleteTCB( tskTCB *pxTCB );
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475 * Used only by the idle task. This checks to see if anything has been placed
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476 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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477 * and its TCB deleted.
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479 static void prvCheckTasksWaitingTermination( void );
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482 * Allocates memory from the heap for a TCB and associated stack. Checks the
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483 * allocation was successful.
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485 static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );
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488 * Called from vTaskList. vListTasks details all the tasks currently under
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489 * control of the scheduler. The tasks may be in one of a number of lists.
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490 * prvListTaskWithinSingleList accepts a list and details the tasks from
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491 * within just that list.
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493 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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494 * NORMAL APPLICATION CODE.
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496 #if ( configUSE_TRACE_FACILITY == 1 )
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498 static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus );
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503 * When a task is created, the stack of the task is filled with a known value.
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504 * This function determines the 'high water mark' of the task stack by
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505 * determining how much of the stack remains at the original preset value.
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507 #if ( configUSE_TRACE_FACILITY == 1 )
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509 unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte );
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514 * Checks that a task being resumed (unsuspended) is actually in the Suspended
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517 #if ( INCLUDE_vTaskSuspend == 1 )
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519 static portBASE_TYPE prvIsTaskSuspended( const tskTCB * const pxTCB );
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529 /*-----------------------------------------------------------
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530 * TASK CREATION API documented in task.h
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531 *----------------------------------------------------------*/
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533 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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535 signed portBASE_TYPE xReturn;
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537 #if ( configUSE_TRACE_FACILITY == 1 )
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538 static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberate - this is guarded before use. */
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541 /* Allocate the memory required by the TCB and stack for the new task.
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542 checking that the allocation was successful. */
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543 pxNewTCB = prvAllocateTCBAndStack( usStackDepth );
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545 if( pxNewTCB != NULL )
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547 portSTACK_TYPE *pxTopOfStack;
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549 /* Setup the newly allocated TCB with the initial state of the task. */
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550 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority );
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552 /* Calculate the top of stack address. This depends on whether the
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553 stack grows from high memory to low (as per the 80x86) or visa versa.
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554 portSTACK_GROWTH is used to make the result positive or negative as
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555 required by the port. */
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556 #if portSTACK_GROWTH < 0
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558 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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562 pxTopOfStack = pxNewTCB->pxStack;
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566 /* Initialize the TCB stack to look as if the task was already running,
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567 but had been interrupted by the scheduler. The return address is set
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568 to the start of the task function. Once the stack has been initialised
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569 the top of stack variable is updated. */
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570 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pvTaskCode, pvParameters );
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572 /* We are going to manipulate the task queues to add this task to a
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573 ready list, so must make sure no interrupts occur. */
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574 portENTER_CRITICAL();
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576 uxCurrentNumberOfTasks++;
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577 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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579 /* As this is the first task it must also be the current task. */
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580 pxCurrentTCB = pxNewTCB;
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582 /* This is the first task to be created so do the preliminary
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583 initialisation required. We will not recover if this call
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584 fails, but we will report the failure. */
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585 prvInitialiseTaskLists();
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589 /* If the scheduler is not already running, make this task the
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590 current task if it is the highest priority task to be created
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592 if( xSchedulerRunning == pdFALSE )
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594 if( pxCurrentTCB->uxPriority <= uxPriority )
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596 pxCurrentTCB = pxNewTCB;
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601 /* Remember the top priority to make context switching faster. Use
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602 the priority in pxNewTCB as this has been capped to a valid value. */
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603 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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605 uxTopUsedPriority = pxNewTCB->uxPriority;
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608 #if ( configUSE_TRACE_FACILITY == 1 )
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610 /* Add a counter into the TCB for tracing only. */
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611 pxNewTCB->uxTCBNumber = uxTaskNumber;
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616 prvAddTaskToReadyQueue( pxNewTCB );
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620 portEXIT_CRITICAL();
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624 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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627 if( xReturn == pdPASS )
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629 if( ( void * ) pxCreatedTask != NULL )
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631 /* Pass the TCB out - in an anonymous way. The calling function/
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632 task can use this as a handle to delete the task later if
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634 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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637 if( xSchedulerRunning != pdFALSE )
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639 /* If the created task is of a higher priority than the current task
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640 then it should run now. */
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641 if( pxCurrentTCB->uxPriority < uxPriority )
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650 /*-----------------------------------------------------------*/
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652 #if ( INCLUDE_vTaskDelete == 1 )
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654 void vTaskDelete( xTaskHandle pxTaskToDelete )
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658 taskENTER_CRITICAL();
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660 /* Ensure a yield is performed if the current task is being
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662 if( pxTaskToDelete == pxCurrentTCB )
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664 pxTaskToDelete = NULL;
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667 /* If null is passed in here then we are deleting ourselves. */
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668 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
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670 /* Remove task from the ready list and place in the termination list.
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671 This will stop the task from be scheduled. The idle task will check
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672 the termination list and free up any memory allocated by the
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673 scheduler for the TCB and stack. */
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674 vListRemove( &( pxTCB->xGenericListItem ) );
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676 /* Is the task waiting on an event also? */
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677 if( pxTCB->xEventListItem.pvContainer )
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679 vListRemove( &( pxTCB->xEventListItem ) );
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682 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
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684 /* Increment the ucTasksDeleted variable so the idle task knows
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685 there is a task that has been deleted and that it should therefore
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686 check the xTasksWaitingTermination list. */
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689 taskEXIT_CRITICAL();
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691 /* Force a reschedule if we have just deleted the current task. */
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692 if( xSchedulerRunning != pdFALSE )
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694 if( ( void * ) pxTaskToDelete == NULL )
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708 /*-----------------------------------------------------------
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709 * TASK CONTROL API documented in task.h
\r
710 *----------------------------------------------------------*/
\r
712 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
714 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
716 portTickType xTimeToWake;
\r
717 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
721 /* Generate the tick time at which the task wants to wake. */
\r
722 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
724 if( xTickCount < *pxPreviousWakeTime )
\r
726 /* The tick count has overflowed since this function was
\r
727 lasted called. In this case the only time we should ever
\r
728 actually delay is if the wake time has also overflowed,
\r
729 and the wake time is greater than the tick time. When this
\r
730 is the case it is as if neither time had overflowed. */
\r
731 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
733 xShouldDelay = pdTRUE;
\r
738 /* The tick time has not overflowed. In this case we will
\r
739 delay if either the wake time has overflowed, and/or the
\r
740 tick time is less than the wake time. */
\r
741 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
743 xShouldDelay = pdTRUE;
\r
747 /* Update the wake time ready for the next call. */
\r
748 *pxPreviousWakeTime = xTimeToWake;
\r
752 /* We must remove ourselves from the ready list before adding
\r
753 ourselves to the blocked list as the same list item is used for
\r
755 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
757 /* The list item will be inserted in wake time order. */
\r
758 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
760 if( xTimeToWake < xTickCount )
\r
762 /* Wake time has overflowed. Place this item in the
\r
764 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
768 /* The wake time has not overflowed, so we can use the
\r
769 current block list. */
\r
770 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
774 xAlreadyYielded = xTaskResumeAll();
\r
776 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
777 have put ourselves to sleep. */
\r
778 if( !xAlreadyYielded )
\r
785 /*-----------------------------------------------------------*/
\r
787 #if ( INCLUDE_vTaskDelay == 1 )
\r
789 void vTaskDelay( portTickType xTicksToDelay )
\r
791 portTickType xTimeToWake;
\r
792 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
794 /* A delay time of zero just forces a reschedule. */
\r
795 if( xTicksToDelay > ( portTickType ) 0 )
\r
799 /* A task that is removed from the event list while the
\r
800 scheduler is suspended will not get placed in the ready
\r
801 list or removed from the blocked list until the scheduler
\r
804 This task cannot be in an event list as it is the currently
\r
807 /* Calculate the time to wake - this may overflow but this is
\r
809 xTimeToWake = xTickCount + xTicksToDelay;
\r
811 /* We must remove ourselves from the ready list before adding
\r
812 ourselves to the blocked list as the same list item is used for
\r
814 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
816 /* The list item will be inserted in wake time order. */
\r
817 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
819 if( xTimeToWake < xTickCount )
\r
821 /* Wake time has overflowed. Place this item in the
\r
823 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
827 /* The wake time has not overflowed, so we can use the
\r
828 current block list. */
\r
829 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
832 xAlreadyYielded = xTaskResumeAll();
\r
835 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
836 have put ourselves to sleep. */
\r
837 if( !xAlreadyYielded )
\r
844 /*-----------------------------------------------------------*/
\r
846 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
848 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
851 unsigned portBASE_TYPE uxReturn;
\r
853 taskENTER_CRITICAL();
\r
855 /* If null is passed in here then we are changing the
\r
856 priority of the calling function. */
\r
857 pxTCB = prvGetTCBFromHandle( pxTask );
\r
858 uxReturn = pxTCB->uxPriority;
\r
860 taskEXIT_CRITICAL();
\r
866 /*-----------------------------------------------------------*/
\r
868 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
870 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
873 unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
\r
875 /* Ensure the new priority is valid. */
\r
876 if( uxNewPriority >= configMAX_PRIORITIES )
\r
878 uxNewPriority = configMAX_PRIORITIES - 1;
\r
881 taskENTER_CRITICAL();
\r
883 /* If null is passed in here then we are changing the
\r
884 priority of the calling function. */
\r
885 pxTCB = prvGetTCBFromHandle( pxTask );
\r
887 #if ( configUSE_MUTEXES == 1 )
\r
889 uxCurrentPriority = pxTCB->uxBasePriority;
\r
893 uxCurrentPriority = pxTCB->uxPriority;
\r
897 if( uxCurrentPriority != uxNewPriority )
\r
899 /* The priority change may have readied a task of higher
\r
900 priority than the calling task. */
\r
901 if( uxNewPriority > uxCurrentPriority )
\r
903 if( pxTask != NULL )
\r
905 /* The priority of another task is being raised. If we
\r
906 were raising the priority of the currently running task
\r
907 there would be no need to switch as it must have already
\r
908 been the highest priority task. */
\r
909 xYieldRequired = pdTRUE;
\r
912 else if( pxTask == NULL )
\r
914 /* Setting our own priority down means there may now be another
\r
915 task of higher priority that is ready to execute. */
\r
916 xYieldRequired = pdTRUE;
\r
921 #if ( configUSE_MUTEXES == 1 )
\r
923 /* Only change the priority being used if the task is not
\r
924 currently using an inherited priority. */
\r
925 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
927 pxTCB->uxPriority = uxNewPriority;
\r
930 /* The base priority gets set whatever. */
\r
931 pxTCB->uxBasePriority = uxNewPriority;
\r
935 pxTCB->uxPriority = uxNewPriority;
\r
939 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
941 /* If the task is in the blocked or suspended list we need do
\r
942 nothing more than change it's priority variable. However, if
\r
943 the task is in a ready list it needs to be removed and placed
\r
944 in the queue appropriate to its new priority. */
\r
945 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
947 /* The task is currently in its ready list - remove before adding
\r
948 it to it's new ready list. As we are in a critical section we
\r
949 can do this even if the scheduler is suspended. */
\r
950 vListRemove( &( pxTCB->xGenericListItem ) );
\r
951 prvAddTaskToReadyQueue( pxTCB );
\r
954 if( xYieldRequired == pdTRUE )
\r
960 taskEXIT_CRITICAL();
\r
964 /*-----------------------------------------------------------*/
\r
966 #if ( INCLUDE_vTaskSuspend == 1 )
\r
968 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
972 taskENTER_CRITICAL();
\r
974 /* Ensure a yield is performed if the current task is being
\r
976 if( pxTaskToSuspend == pxCurrentTCB )
\r
978 pxTaskToSuspend = NULL;
\r
981 /* If null is passed in here then we are suspending ourselves. */
\r
982 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
984 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
985 vListRemove( &( pxTCB->xGenericListItem ) );
\r
987 /* Is the task waiting on an event also? */
\r
988 if( pxTCB->xEventListItem.pvContainer )
\r
990 vListRemove( &( pxTCB->xEventListItem ) );
\r
993 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
995 taskEXIT_CRITICAL();
\r
997 /* We may have just suspended the current task. */
\r
998 if( ( void * ) pxTaskToSuspend == NULL )
\r
1005 /*-----------------------------------------------------------*/
\r
1007 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1009 static portBASE_TYPE prvIsTaskSuspended( const tskTCB * const pxTCB )
\r
1011 portBASE_TYPE xReturn = pdFALSE;
\r
1013 /* Is the task we are attempting to resume actually in the
\r
1014 suspended list? */
\r
1015 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1017 /* Has the task already been resumed from within an ISR? */
\r
1018 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
1020 /* Is it in the suspended list because it is in the
\r
1021 Suspended state? It is possible to be in the suspended
\r
1022 list because it is blocked on a task with no timeout
\r
1024 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
1035 /*-----------------------------------------------------------*/
\r
1037 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1039 void vTaskResume( xTaskHandle pxTaskToResume )
\r
1043 /* Remove the task from whichever list it is currently in, and place
\r
1044 it in the ready list. */
\r
1045 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1047 /* The parameter cannot be NULL as it is impossible to resume the
\r
1048 currently executing task. */
\r
1049 if( pxTCB != NULL )
\r
1051 taskENTER_CRITICAL();
\r
1053 if( prvIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1055 /* As we are in a critical section we can access the ready
\r
1056 lists even if the scheduler is suspended. */
\r
1057 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1058 prvAddTaskToReadyQueue( pxTCB );
\r
1060 /* We may have just resumed a higher priority task. */
\r
1061 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1063 /* This yield may not cause the task just resumed to run, but
\r
1064 will leave the lists in the correct state for the next yield. */
\r
1069 taskEXIT_CRITICAL();
\r
1075 /*-----------------------------------------------------------*/
\r
1077 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1079 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
1081 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1084 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1086 if( prvIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1088 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1090 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1091 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1092 prvAddTaskToReadyQueue( pxTCB );
\r
1096 /* We cannot access the delayed or ready lists, so will hold this
\r
1097 task pending until the scheduler is resumed, at which point a
\r
1098 yield will be performed if necessary. */
\r
1099 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1103 return xYieldRequired;
\r
1111 /*-----------------------------------------------------------
\r
1112 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1113 *----------------------------------------------------------*/
\r
1116 void vTaskStartScheduler( void )
\r
1118 portBASE_TYPE xReturn;
\r
1120 /* Add the idle task at the lowest priority. */
\r
1121 xReturn = xTaskCreate( prvIdleTask, ( signed portCHAR * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
\r
1123 if( xReturn == pdPASS )
\r
1125 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1126 before or during the call to xPortStartScheduler(). The stacks of
\r
1127 the created tasks contain a status word with interrupts switched on
\r
1128 so interrupts will automatically get re-enabled when the first task
\r
1131 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1132 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1133 portDISABLE_INTERRUPTS();
\r
1135 xSchedulerRunning = pdTRUE;
\r
1136 xTickCount = ( portTickType ) 0;
\r
1138 /* Setting up the timer tick is hardware specific and thus in the
\r
1139 portable interface. */
\r
1140 if( xPortStartScheduler() )
\r
1142 /* Should not reach here as if the scheduler is running the
\r
1143 function will not return. */
\r
1147 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1151 /*-----------------------------------------------------------*/
\r
1153 void vTaskEndScheduler( void )
\r
1155 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1156 routine so the original ISRs can be restored if necessary. The port
\r
1157 layer must ensure interrupts enable bit is left in the correct state. */
\r
1158 portDISABLE_INTERRUPTS();
\r
1159 xSchedulerRunning = pdFALSE;
\r
1160 vPortEndScheduler();
\r
1162 /*----------------------------------------------------------*/
\r
1164 void vTaskSuspendAll( void )
\r
1166 portENTER_CRITICAL();
\r
1167 ++uxSchedulerSuspended;
\r
1168 portEXIT_CRITICAL();
\r
1170 /*----------------------------------------------------------*/
\r
1172 signed portBASE_TYPE xTaskResumeAll( void )
\r
1174 register tskTCB *pxTCB;
\r
1175 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1177 /* It is possible that an ISR caused a task to be removed from an event
\r
1178 list while the scheduler was suspended. If this was the case then the
\r
1179 removed task will have been added to the xPendingReadyList. Once the
\r
1180 scheduler has been resumed it is safe to move all the pending ready
\r
1181 tasks from this list into their appropriate ready list. */
\r
1182 portENTER_CRITICAL();
\r
1184 --uxSchedulerSuspended;
\r
1186 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1188 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
\r
1190 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1192 /* Move any readied tasks from the pending list into the
\r
1193 appropriate ready list. */
\r
1194 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL )
\r
1196 vListRemove( &( pxTCB->xEventListItem ) );
\r
1197 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1198 prvAddTaskToReadyQueue( pxTCB );
\r
1200 /* If we have moved a task that has a priority higher than
\r
1201 the current task then we should yield. */
\r
1202 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1204 xYieldRequired = pdTRUE;
\r
1208 /* If any ticks occurred while the scheduler was suspended then
\r
1209 they should be processed now. This ensures the tick count does not
\r
1210 slip, and that any delayed tasks are resumed at the correct time. */
\r
1211 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1213 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1215 vTaskIncrementTick();
\r
1219 /* As we have processed some ticks it is appropriate to yield
\r
1220 to ensure the highest priority task that is ready to run is
\r
1221 the task actually running. */
\r
1222 #if configUSE_PREEMPTION == 1
\r
1224 xYieldRequired = pdTRUE;
\r
1229 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1231 xAlreadyYielded = pdTRUE;
\r
1232 xMissedYield = pdFALSE;
\r
1238 portEXIT_CRITICAL();
\r
1240 return xAlreadyYielded;
\r
1248 /*-----------------------------------------------------------
\r
1249 * PUBLIC TASK UTILITIES documented in task.h
\r
1250 *----------------------------------------------------------*/
\r
1254 portTickType xTaskGetTickCount( void )
\r
1256 portTickType xTicks;
\r
1258 /* Critical section required if running on a 16 bit processor. */
\r
1259 taskENTER_CRITICAL();
\r
1261 xTicks = xTickCount;
\r
1263 taskEXIT_CRITICAL();
\r
1267 /*-----------------------------------------------------------*/
\r
1269 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1271 unsigned portBASE_TYPE uxNumberOfTasks;
\r
1273 taskENTER_CRITICAL();
\r
1274 uxNumberOfTasks = uxCurrentNumberOfTasks;
\r
1275 taskEXIT_CRITICAL();
\r
1277 return uxNumberOfTasks;
\r
1279 /*-----------------------------------------------------------*/
\r
1281 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_vTaskDelete == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1283 void vTaskList( signed portCHAR *pcWriteBuffer )
\r
1285 unsigned portBASE_TYPE uxQueue;
\r
1287 /* This is a VERY costly function that should be used for debug only.
\r
1288 It leaves interrupts disabled for a LONG time. */
\r
1290 vTaskSuspendAll();
\r
1292 /* Run through all the lists that could potentially contain a TCB and
\r
1293 report the task name, state and stack high water mark. */
\r
1295 pcWriteBuffer[ 0 ] = ( signed portCHAR ) 0x00;
\r
1296 strcat( ( portCHAR * ) pcWriteBuffer, ( const portCHAR * ) "\r\n" );
\r
1298 uxQueue = uxTopUsedPriority + 1;
\r
1304 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1306 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1308 }while( uxQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
\r
1310 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1312 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1315 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1317 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1320 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1322 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1325 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1327 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1334 /*----------------------------------------------------------*/
\r
1336 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1338 void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize )
\r
1340 portENTER_CRITICAL();
\r
1342 pcTraceBuffer = ( signed portCHAR * )pcBuffer;
\r
1343 pcTraceBufferStart = pcBuffer;
\r
1344 pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
\r
1345 xTracing = pdTRUE;
\r
1347 portEXIT_CRITICAL();
\r
1351 /*----------------------------------------------------------*/
\r
1353 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1355 unsigned portLONG ulTaskEndTrace( void )
\r
1357 unsigned portLONG ulBufferLength;
\r
1359 portENTER_CRITICAL();
\r
1360 xTracing = pdFALSE;
\r
1361 portEXIT_CRITICAL();
\r
1363 ulBufferLength = ( unsigned portLONG ) ( pcTraceBuffer - pcTraceBufferStart );
\r
1365 return ulBufferLength;
\r
1372 /*-----------------------------------------------------------
\r
1373 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1374 * documented in task.h
\r
1375 *----------------------------------------------------------*/
\r
1378 inline void vTaskIncrementTick( void )
\r
1380 /* Called by the portable layer each time a tick interrupt occurs.
\r
1381 Increments the tick then checks to see if the new tick value will cause any
\r
1382 tasks to be unblocked. */
\r
1383 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1386 if( xTickCount == ( portTickType ) 0 )
\r
1390 /* Tick count has overflowed so we need to swap the delay lists.
\r
1391 If there are any items in pxDelayedTaskList here then there is
\r
1393 pxTemp = pxDelayedTaskList;
\r
1394 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1395 pxOverflowDelayedTaskList = pxTemp;
\r
1396 xNumOfOverflows++;
\r
1399 /* See if this tick has made a timeout expire. */
\r
1400 prvCheckDelayedTasks();
\r
1406 /* The tick hook gets called at regular intervals, even if the
\r
1407 scheduler is locked. */
\r
1408 #if ( configUSE_TICK_HOOK == 1 )
\r
1410 extern void vApplicationTickHook( void );
\r
1412 vApplicationTickHook();
\r
1417 #if ( configUSE_TICK_HOOK == 1 )
\r
1419 extern void vApplicationTickHook( void );
\r
1421 /* Guard against the tick hook being called when the missed tick
\r
1422 count is being unwound (when the scheduler is being unlocked. */
\r
1423 if( uxMissedTicks == 0 )
\r
1425 vApplicationTickHook();
\r
1430 /*-----------------------------------------------------------*/
\r
1432 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1434 void vTaskCleanUpResources( void )
\r
1436 unsigned portSHORT usQueue;
\r
1437 volatile tskTCB *pxTCB;
\r
1439 usQueue = ( unsigned portSHORT ) uxTopUsedPriority + ( unsigned portSHORT ) 1;
\r
1441 /* Remove any TCB's from the ready queues. */
\r
1446 while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
\r
1448 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
\r
1449 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1451 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1453 }while( usQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
\r
1455 /* Remove any TCB's from the delayed queue. */
\r
1456 while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
\r
1458 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
\r
1459 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1461 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1464 /* Remove any TCB's from the overflow delayed queue. */
\r
1465 while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
\r
1467 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
\r
1468 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1470 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1473 while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1475 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
\r
1476 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1478 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1483 /*-----------------------------------------------------------*/
\r
1485 void vTaskSwitchContext( void )
\r
1487 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1489 /* The scheduler is currently suspended - do not allow a context
\r
1491 xMissedYield = pdTRUE;
\r
1495 /* Find the highest priority queue that contains ready tasks. */
\r
1496 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1498 --uxTopReadyPriority;
\r
1501 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1502 same priority get an equal share of the processor time. */
\r
1503 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1504 vWriteTraceToBuffer();
\r
1506 /*-----------------------------------------------------------*/
\r
1508 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1510 portTickType xTimeToWake;
\r
1512 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1513 SCHEDULER SUSPENDED. */
\r
1515 /* Place the event list item of the TCB in the appropriate event list.
\r
1516 This is placed in the list in priority order so the highest priority task
\r
1517 is the first to be woken by the event. */
\r
1518 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1520 /* We must remove ourselves from the ready list before adding ourselves
\r
1521 to the blocked list as the same list item is used for both lists. We have
\r
1522 exclusive access to the ready lists as the scheduler is locked. */
\r
1523 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1526 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1528 if( xTicksToWait == portMAX_DELAY )
\r
1530 /* Add ourselves to the suspended task list instead of a delayed task
\r
1531 list to ensure we are not woken by a timing event. We will block
\r
1533 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1537 /* Calculate the time at which the task should be woken if the event does
\r
1538 not occur. This may overflow but this doesn't matter. */
\r
1539 xTimeToWake = xTickCount + xTicksToWait;
\r
1541 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1543 if( xTimeToWake < xTickCount )
\r
1545 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1546 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1550 /* The wake time has not overflowed, so we can use the current block list. */
\r
1551 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1557 /* Calculate the time at which the task should be woken if the event does
\r
1558 not occur. This may overflow but this doesn't matter. */
\r
1559 xTimeToWake = xTickCount + xTicksToWait;
\r
1561 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1563 if( xTimeToWake < xTickCount )
\r
1565 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1566 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1570 /* The wake time has not overflowed, so we can use the current block list. */
\r
1571 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1576 /*-----------------------------------------------------------*/
\r
1578 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1580 tskTCB *pxUnblockedTCB;
\r
1581 portBASE_TYPE xReturn;
\r
1583 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1584 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1586 /* The event list is sorted in priority order, so we can remove the
\r
1587 first in the list, remove the TCB from the delayed list, and add
\r
1588 it to the ready list.
\r
1590 If an event is for a queue that is locked then this function will never
\r
1591 get called - the lock count on the queue will get modified instead. This
\r
1592 means we can always expect exclusive access to the event list here. */
\r
1593 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1594 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1596 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1598 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1599 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1603 /* We cannot access the delayed or ready lists, so will hold this
\r
1604 task pending until the scheduler is resumed. */
\r
1605 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1608 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1610 /* Return true if the task removed from the event list has
\r
1611 a higher priority than the calling task. This allows
\r
1612 the calling task to know if it should force a context
\r
1618 xReturn = pdFALSE;
\r
1623 /*-----------------------------------------------------------*/
\r
1625 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1627 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1628 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1630 /*-----------------------------------------------------------*/
\r
1632 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1634 portBASE_TYPE xReturn;
\r
1636 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1637 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1638 the maximum block time then the task should block indefinitely, and
\r
1639 therefore never time out. */
\r
1640 if( *pxTicksToWait == portMAX_DELAY )
\r
1642 xReturn = pdFALSE;
\r
1644 else /* We are not blocking indefinitely, perform the checks below. */
\r
1647 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xTickCount >= pxTimeOut->xTimeOnEntering ) )
\r
1649 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1650 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1651 It must have wrapped all the way around and gone past us again. This
\r
1652 passed since vTaskSetTimeout() was called. */
\r
1655 else if( ( xTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
1657 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1658 *pxTicksToWait -= ( xTickCount - pxTimeOut->xTimeOnEntering );
\r
1659 vTaskSetTimeOutState( pxTimeOut );
\r
1660 xReturn = pdFALSE;
\r
1669 /*-----------------------------------------------------------*/
\r
1671 void vTaskMissedYield( void )
\r
1673 xMissedYield = pdTRUE;
\r
1677 * -----------------------------------------------------------
\r
1679 * ----------------------------------------------------------
\r
1681 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1682 * language extensions. The equivalent prototype for this function is:
\r
1684 * void prvIdleTask( void *pvParameters );
\r
1687 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1689 /* Stop warnings. */
\r
1690 ( void ) pvParameters;
\r
1694 /* See if any tasks have been deleted. */
\r
1695 prvCheckTasksWaitingTermination();
\r
1697 #if ( configUSE_PREEMPTION == 0 )
\r
1699 /* If we are not using preemption we keep forcing a task switch to
\r
1700 see if any other task has become available. If we are using
\r
1701 preemption we don't need to do this as any task becoming available
\r
1702 will automatically get the processor anyway. */
\r
1707 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1709 /* When using preemption tasks of equal priority will be
\r
1710 timesliced. If a task that is sharing the idle priority is ready
\r
1711 to run then the idle task should yield before the end of the
\r
1714 A critical region is not required here as we are just reading from
\r
1715 the list, and an occasional incorrect value will not matter. If
\r
1716 the ready list at the idle priority contains more than one task
\r
1717 then a task other than the idle task is ready to execute. */
\r
1718 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1725 #if ( configUSE_IDLE_HOOK == 1 )
\r
1727 extern void vApplicationIdleHook( void );
\r
1729 /* Call the user defined function from within the idle task. This
\r
1730 allows the application designer to add background functionality
\r
1731 without the overhead of a separate task.
\r
1732 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1733 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1734 vApplicationIdleHook();
\r
1738 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1746 /*-----------------------------------------------------------
\r
1747 * File private functions documented at the top of the file.
\r
1748 *----------------------------------------------------------*/
\r
1752 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority )
\r
1754 /* Store the function name in the TCB. */
\r
1755 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned portSHORT ) configMAX_TASK_NAME_LEN );
\r
1756 pxTCB->pcTaskName[ ( unsigned portSHORT ) configMAX_TASK_NAME_LEN - ( unsigned portSHORT ) 1 ] = '\0';
\r
1758 /* This is used as an array index so must ensure it's not too large. */
\r
1759 if( uxPriority >= configMAX_PRIORITIES )
\r
1761 uxPriority = configMAX_PRIORITIES - 1;
\r
1764 pxTCB->uxPriority = uxPriority;
\r
1765 #if ( configUSE_MUTEXES == 1 )
\r
1767 pxTCB->uxBasePriority = uxPriority;
\r
1771 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
1772 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
1774 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
1775 back to the containing TCB from a generic item in a list. */
\r
1776 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
1778 /* Event lists are always in priority order. */
\r
1779 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
1780 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
1782 /*-----------------------------------------------------------*/
\r
1784 static void prvInitialiseTaskLists( void )
\r
1786 unsigned portBASE_TYPE uxPriority;
\r
1788 for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
1790 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
1793 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
1794 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
1795 vListInitialise( ( xList * ) &xPendingReadyList );
\r
1797 #if ( INCLUDE_vTaskDelete == 1 )
\r
1799 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
1803 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1805 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
1809 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
1811 pxDelayedTaskList = &xDelayedTaskList1;
\r
1812 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
1814 /*-----------------------------------------------------------*/
\r
1816 static void prvCheckTasksWaitingTermination( void )
\r
1818 #if ( INCLUDE_vTaskDelete == 1 )
\r
1820 portBASE_TYPE xListIsEmpty;
\r
1822 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
1823 too often in the idle task. */
\r
1824 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
\r
1826 vTaskSuspendAll();
\r
1827 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
1830 if( !xListIsEmpty )
\r
1834 portENTER_CRITICAL();
\r
1836 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
1837 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1838 --uxCurrentNumberOfTasks;
\r
1841 portEXIT_CRITICAL();
\r
1843 prvDeleteTCB( pxTCB );
\r
1849 /*-----------------------------------------------------------*/
\r
1851 static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth )
\r
1855 /* Allocate space for the TCB. Where the memory comes from depends on
\r
1856 the implementation of the port malloc function. */
\r
1857 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
1859 if( pxNewTCB != NULL )
\r
1861 /* Allocate space for the stack used by the task being created.
\r
1862 The base of the stack memory stored in the TCB so the task can
\r
1863 be deleted later if required. */
\r
1864 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMalloc( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) );
\r
1866 if( pxNewTCB->pxStack == NULL )
\r
1868 /* Could not allocate the stack. Delete the allocated TCB. */
\r
1869 vPortFree( pxNewTCB );
\r
1874 /* Just to help debugging. */
\r
1875 memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
\r
1881 /*-----------------------------------------------------------*/
\r
1883 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1885 static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus )
\r
1887 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
1888 static portCHAR pcStatusString[ 50 ];
\r
1889 unsigned portSHORT usStackRemaining;
\r
1891 /* Write the details of all the TCB's in pxList into the buffer. */
\r
1892 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
1895 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
1896 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned portCHAR * ) pxNextTCB->pxStack );
\r
1897 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
1898 strcat( ( portCHAR * ) pcWriteBuffer, ( portCHAR * ) pcStatusString );
\r
1900 } while( pxNextTCB != pxFirstTCB );
\r
1904 /*-----------------------------------------------------------*/
\r
1906 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1907 unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte )
\r
1909 register unsigned portSHORT usCount = 0;
\r
1911 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
1913 pucStackByte -= portSTACK_GROWTH;
\r
1917 usCount /= sizeof( portSTACK_TYPE );
\r
1922 /*-----------------------------------------------------------*/
\r
1926 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
\r
1928 static void prvDeleteTCB( tskTCB *pxTCB )
\r
1930 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
1931 the task to free any memory allocated at the application level. */
\r
1932 vPortFree( pxTCB->pxStack );
\r
1933 vPortFree( pxTCB );
\r
1939 /*-----------------------------------------------------------*/
\r
1941 #if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
\r
1943 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
1945 xTaskHandle xReturn;
\r
1947 portENTER_CRITICAL();
\r
1949 xReturn = ( xTaskHandle ) pxCurrentTCB;
\r
1951 portEXIT_CRITICAL();
\r
1958 /*-----------------------------------------------------------*/
\r
1960 #if ( INCLUDE_xTaskGetSchedulerState == 1 )
\r
1962 portBASE_TYPE xTaskGetSchedulerState( void )
\r
1964 portBASE_TYPE xReturn;
\r
1966 if( xSchedulerRunning == pdFALSE )
\r
1968 xReturn = taskSCHEDULER_NOT_STARTED;
\r
1972 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1974 xReturn = taskSCHEDULER_RUNNING;
\r
1978 xReturn = taskSCHEDULER_SUSPENDED;
\r
1987 #if ( configUSE_MUTEXES == 1 )
\r
1989 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
1991 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
1993 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
1995 /* Adjust the mutex holder state to account for its new priority. */
\r
1996 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
1998 /* If the task being modified is in the ready state it will need to
\r
1999 be moved in to a new list. */
\r
2000 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
2002 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2004 /* Inherit the priority before being moved into the new list. */
\r
2005 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2006 prvAddTaskToReadyQueue( pxTCB );
\r
2010 /* Just inherit the priority. */
\r
2011 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2018 #if ( configUSE_MUTEXES == 1 )
\r
2020 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2022 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2024 if( pxMutexHolder != NULL )
\r
2026 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2028 /* We must be the running task to be able to give the mutex back.
\r
2029 Remove ourselves from the ready list we currently appear in. */
\r
2030 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2032 /* Disinherit the priority before adding ourselves into the new
\r
2034 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2035 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2036 prvAddTaskToReadyQueue( pxTCB );
\r