2 FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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4 ***************************************************************************
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8 * + New to FreeRTOS, *
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10 * + Looking for basic training, *
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11 * + Wanting to improve your FreeRTOS skills and productivity *
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13 * then take a look at the FreeRTOS books - available as PDF or paperback *
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15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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16 * http://www.FreeRTOS.org/Documentation *
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18 * A pdf reference manual is also available. Both are usually delivered *
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19 * to your inbox within 20 minutes to two hours when purchased between 8am *
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20 * and 8pm GMT (although please allow up to 24 hours in case of *
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21 * exceptional circumstances). Thank you for your support! *
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23 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 ***NOTE*** The exception to the GPL is included to allow you to distribute
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31 a combined work that includes FreeRTOS without being obliged to provide the
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32 source code for proprietary components outside of the FreeRTOS kernel.
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33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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35 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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59 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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60 all the API functions to use the MPU wrappers. That should only be done when
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61 task.h is included from an application file. */
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62 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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64 #include "FreeRTOS.h"
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67 #include "StackMacros.h"
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69 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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72 * Macro to define the amount of stack available to the idle task.
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74 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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77 * Task control block. A task control block (TCB) is allocated to each task,
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78 * and stores the context of the task.
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80 typedef struct tskTaskControlBlock
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82 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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84 #if ( portUSING_MPU_WRAPPERS == 1 )
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85 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE STRUCT. */
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88 xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
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89 xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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90 unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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91 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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92 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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94 #if ( portSTACK_GROWTH > 0 )
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95 portSTACK_TYPE *pxEndOfStack; /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
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98 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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99 unsigned portBASE_TYPE uxCriticalNesting;
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102 #if ( configUSE_TRACE_FACILITY == 1 )
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103 unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
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106 #if ( configUSE_MUTEXES == 1 )
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107 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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110 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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111 pdTASK_HOOK_CODE pxTaskTag;
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114 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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115 unsigned long ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
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122 * Some kernel aware debuggers require data to be viewed to be global, rather
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125 #ifdef portREMOVE_STATIC_QUALIFIER
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130 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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132 /* Lists for ready and blocked tasks. --------------------*/
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134 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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135 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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136 PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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137 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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138 PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
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139 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */
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141 #if ( INCLUDE_vTaskDelete == 1 )
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143 PRIVILEGED_DATA static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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144 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
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148 #if ( INCLUDE_vTaskSuspend == 1 )
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150 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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154 /* File private variables. --------------------------------*/
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155 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
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156 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0;
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157 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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158 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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159 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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160 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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161 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
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162 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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163 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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164 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0;
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165 PRIVILEGED_DATA static portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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167 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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169 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
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170 PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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171 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
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175 /* Debugging and trace facilities private variables and macros. ------------*/
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178 * The value used to fill the stack of a task when the task is created. This
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179 * is used purely for checking the high water mark for tasks.
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181 #define tskSTACK_FILL_BYTE ( 0xa5U )
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184 * Macros used by vListTask to indicate which state a task is in.
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186 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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187 #define tskREADY_CHAR ( ( signed char ) 'R' )
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188 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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189 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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192 * Macros and private variables used by the trace facility.
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194 #if ( configUSE_TRACE_FACILITY == 1 )
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196 #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned long ) ( sizeof( unsigned long ) + sizeof( unsigned long ) ) )
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197 PRIVILEGED_DATA static volatile signed char * volatile pcTraceBuffer;
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198 PRIVILEGED_DATA static signed char *pcTraceBufferStart;
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199 PRIVILEGED_DATA static signed char *pcTraceBufferEnd;
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200 PRIVILEGED_DATA static signed portBASE_TYPE xTracing = pdFALSE;
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201 static unsigned portBASE_TYPE uxPreviousTask = 255U;
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202 PRIVILEGED_DATA static char pcStatusString[ 50 ];
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206 /*-----------------------------------------------------------*/
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209 * Macro that writes a trace of scheduler activity to a buffer. This trace
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210 * shows which task is running when and is very useful as a debugging tool.
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211 * As this macro is called each context switch it is a good idea to undefine
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212 * it if not using the facility.
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214 #if ( configUSE_TRACE_FACILITY == 1 )
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216 #define vWriteTraceToBuffer() \
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220 if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
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222 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
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224 uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
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225 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) xTickCount; \
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226 pcTraceBuffer += sizeof( unsigned long ); \
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227 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) uxPreviousTask; \
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228 pcTraceBuffer += sizeof( unsigned long ); \
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232 xTracing = pdFALSE; \
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240 #define vWriteTraceToBuffer()
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243 /*-----------------------------------------------------------*/
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246 * Place the task represented by pxTCB into the appropriate ready queue for
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247 * the task. It is inserted at the end of the list. One quirk of this is
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248 * that if the task being inserted is at the same priority as the currently
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249 * executing task, then it will only be rescheduled after the currently
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250 * executing task has been rescheduled.
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252 #define prvAddTaskToReadyQueue( pxTCB ) \
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253 if( ( pxTCB )->uxPriority > uxTopReadyPriority ) \
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255 uxTopReadyPriority = ( pxTCB )->uxPriority; \
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257 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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258 /*-----------------------------------------------------------*/
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261 * Macro that looks at the list of tasks that are currently delayed to see if
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262 * any require waking.
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264 * Tasks are stored in the queue in the order of their wake time - meaning
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265 * once one tasks has been found whose timer has not expired we need not look
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266 * any further down the list.
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268 #define prvCheckDelayedTasks() \
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270 register tskTCB *pxTCB; \
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271 portTickType xItemValue; \
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273 /* Is the tick count greater than or equal to the wake time of the first \
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274 task referenced from the delayed tasks list? */ \
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275 if( xTickCount >= xNextTaskUnblockTime ) \
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279 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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281 /* The delayed list is empty. Set xNextTaskUnblockTime to the \
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282 maximum possible value so it is extremely unlikely that the \
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283 if( xTickCount >= xNextTaskUnblockTime ) test will pass next \
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285 xNextTaskUnblockTime = portMAX_DELAY; \
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290 /* The delayed list is not empty, get the value of the item at \
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291 the head of the delayed list. This is the time at which the \
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292 task at the head of the delayed list should be removed from \
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293 the Blocked state. */ \
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294 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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295 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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297 if( xTickCount < xItemValue ) \
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299 /* It is not time to unblock this item yet, but the item \
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300 value is the time at which the task at the head of the \
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301 blocked list should be removed from the Blocked state - \
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302 so record the item value in xNextTaskUnblockTime. */ \
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303 xNextTaskUnblockTime = xItemValue; \
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307 /* It is time to remove the item from the Blocked state. */ \
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308 vListRemove( &( pxTCB->xGenericListItem ) ); \
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310 /* Is the task waiting on an event also? */ \
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311 if( pxTCB->xEventListItem.pvContainer ) \
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313 vListRemove( &( pxTCB->xEventListItem ) ); \
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315 prvAddTaskToReadyQueue( pxTCB ); \
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320 /*-----------------------------------------------------------*/
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323 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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324 * where NULL is used to indicate that the handle of the currently executing
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325 * task should be used in place of the parameter. This macro simply checks to
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326 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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328 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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330 /* Callback function prototypes. --------------------------*/
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331 extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );
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333 /* File private functions. --------------------------------*/
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336 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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337 * into the TCB structure.
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339 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
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342 * Utility to ready all the lists used by the scheduler. This is called
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343 * automatically upon the creation of the first task.
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345 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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348 * The idle task, which as all tasks is implemented as a never ending loop.
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349 * The idle task is automatically created and added to the ready lists upon
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350 * creation of the first user task.
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352 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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353 * language extensions. The equivalent prototype for this function is:
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355 * void prvIdleTask( void *pvParameters );
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358 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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361 * Utility to free all memory allocated by the scheduler to hold a TCB,
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362 * including the stack pointed to by the TCB.
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364 * This does not free memory allocated by the task itself (i.e. memory
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365 * allocated by calls to pvPortMalloc from within the tasks application code).
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367 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
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369 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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374 * Used only by the idle task. This checks to see if anything has been placed
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375 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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376 * and its TCB deleted.
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378 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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381 * The currently executing task is entering the Blocked state. Add the task to
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382 * either the current or the overflow delayed task list.
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384 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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387 * Allocates memory from the heap for a TCB and associated stack. Checks the
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388 * allocation was successful.
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390 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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393 * Called from vTaskList. vListTasks details all the tasks currently under
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394 * control of the scheduler. The tasks may be in one of a number of lists.
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395 * prvListTaskWithinSingleList accepts a list and details the tasks from
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396 * within just that list.
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398 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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399 * NORMAL APPLICATION CODE.
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401 #if ( configUSE_TRACE_FACILITY == 1 )
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403 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
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408 * When a task is created, the stack of the task is filled with a known value.
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409 * This function determines the 'high water mark' of the task stack by
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410 * determining how much of the stack remains at the original preset value.
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412 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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414 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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423 /*-----------------------------------------------------------
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424 * TASK CREATION API documented in task.h
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425 *----------------------------------------------------------*/
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427 signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
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429 signed portBASE_TYPE xReturn;
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432 /* Allocate the memory required by the TCB and stack for the new task,
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433 checking that the allocation was successful. */
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434 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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436 if( pxNewTCB != NULL )
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438 portSTACK_TYPE *pxTopOfStack;
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440 #if( portUSING_MPU_WRAPPERS == 1 )
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441 /* Should the task be created in privileged mode? */
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442 portBASE_TYPE xRunPrivileged;
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443 if( ( uxPriority & portPRIVILEGE_BIT ) != 0x00 )
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445 xRunPrivileged = pdTRUE;
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449 xRunPrivileged = pdFALSE;
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451 uxPriority &= ~portPRIVILEGE_BIT;
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452 #endif /* portUSING_MPU_WRAPPERS == 1 */
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454 /* Calculate the top of stack address. This depends on whether the
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455 stack grows from high memory to low (as per the 80x86) or visa versa.
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456 portSTACK_GROWTH is used to make the result positive or negative as
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457 required by the port. */
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458 #if( portSTACK_GROWTH < 0 )
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460 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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461 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( unsigned long ) pxTopOfStack ) & ( ( unsigned long ) ~portBYTE_ALIGNMENT_MASK ) );
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465 pxTopOfStack = pxNewTCB->pxStack;
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467 /* If we want to use stack checking on architectures that use
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468 a positive stack growth direction then we also need to store the
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469 other extreme of the stack space. */
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470 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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474 /* Setup the newly allocated TCB with the initial state of the task. */
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475 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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477 /* Initialize the TCB stack to look as if the task was already running,
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478 but had been interrupted by the scheduler. The return address is set
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479 to the start of the task function. Once the stack has been initialised
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480 the top of stack variable is updated. */
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481 #if( portUSING_MPU_WRAPPERS == 1 )
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483 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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487 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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491 if( ( void * ) pxCreatedTask != NULL )
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493 /* Pass the TCB out - in an anonymous way. The calling function/
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494 task can use this as a handle to delete the task later if
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496 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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499 /* We are going to manipulate the task queues to add this task to a
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500 ready list, so must make sure no interrupts occur. */
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501 taskENTER_CRITICAL();
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503 uxCurrentNumberOfTasks++;
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504 if( pxCurrentTCB == NULL )
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506 /* There are no other tasks, or all the other tasks are in
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507 the suspended state - make this the current task. */
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508 pxCurrentTCB = pxNewTCB;
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510 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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512 /* This is the first task to be created so do the preliminary
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513 initialisation required. We will not recover if this call
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514 fails, but we will report the failure. */
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515 prvInitialiseTaskLists();
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520 /* If the scheduler is not already running, make this task the
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521 current task if it is the highest priority task to be created
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523 if( xSchedulerRunning == pdFALSE )
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525 if( pxCurrentTCB->uxPriority <= uxPriority )
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527 pxCurrentTCB = pxNewTCB;
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532 /* Remember the top priority to make context switching faster. Use
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533 the priority in pxNewTCB as this has been capped to a valid value. */
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534 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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536 uxTopUsedPriority = pxNewTCB->uxPriority;
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539 #if ( configUSE_TRACE_FACILITY == 1 )
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541 /* Add a counter into the TCB for tracing only. */
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542 pxNewTCB->uxTCBNumber = uxTaskNumber;
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547 prvAddTaskToReadyQueue( pxNewTCB );
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550 traceTASK_CREATE( pxNewTCB );
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552 taskEXIT_CRITICAL();
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556 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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557 traceTASK_CREATE_FAILED();
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560 if( xReturn == pdPASS )
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562 if( xSchedulerRunning != pdFALSE )
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564 /* If the created task is of a higher priority than the current task
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565 then it should run now. */
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566 if( pxCurrentTCB->uxPriority < uxPriority )
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568 portYIELD_WITHIN_API();
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575 /*-----------------------------------------------------------*/
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577 #if ( INCLUDE_vTaskDelete == 1 )
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579 void vTaskDelete( xTaskHandle pxTaskToDelete )
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583 taskENTER_CRITICAL();
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585 /* Ensure a yield is performed if the current task is being
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587 if( pxTaskToDelete == pxCurrentTCB )
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589 pxTaskToDelete = NULL;
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592 /* If null is passed in here then we are deleting ourselves. */
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593 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
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595 /* Remove task from the ready list and place in the termination list.
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596 This will stop the task from be scheduled. The idle task will check
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597 the termination list and free up any memory allocated by the
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598 scheduler for the TCB and stack. */
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599 vListRemove( &( pxTCB->xGenericListItem ) );
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601 /* Is the task waiting on an event also? */
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602 if( pxTCB->xEventListItem.pvContainer )
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604 vListRemove( &( pxTCB->xEventListItem ) );
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607 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
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609 /* Increment the ucTasksDeleted variable so the idle task knows
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610 there is a task that has been deleted and that it should therefore
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611 check the xTasksWaitingTermination list. */
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614 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
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615 can detect that the task lists need re-generating. */
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618 traceTASK_DELETE( pxTCB );
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620 taskEXIT_CRITICAL();
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622 /* Force a reschedule if we have just deleted the current task. */
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623 if( xSchedulerRunning != pdFALSE )
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625 if( ( void * ) pxTaskToDelete == NULL )
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627 portYIELD_WITHIN_API();
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639 /*-----------------------------------------------------------
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640 * TASK CONTROL API documented in task.h
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641 *----------------------------------------------------------*/
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643 #if ( INCLUDE_vTaskDelayUntil == 1 )
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645 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
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647 portTickType xTimeToWake;
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648 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
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652 /* Generate the tick time at which the task wants to wake. */
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653 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
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655 if( xTickCount < *pxPreviousWakeTime )
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657 /* The tick count has overflowed since this function was
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658 lasted called. In this case the only time we should ever
\r
659 actually delay is if the wake time has also overflowed,
\r
660 and the wake time is greater than the tick time. When this
\r
661 is the case it is as if neither time had overflowed. */
\r
662 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
664 xShouldDelay = pdTRUE;
\r
669 /* The tick time has not overflowed. In this case we will
\r
670 delay if either the wake time has overflowed, and/or the
\r
671 tick time is less than the wake time. */
\r
672 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
674 xShouldDelay = pdTRUE;
\r
678 /* Update the wake time ready for the next call. */
\r
679 *pxPreviousWakeTime = xTimeToWake;
\r
681 if( xShouldDelay != pdFALSE )
\r
683 traceTASK_DELAY_UNTIL();
\r
685 /* We must remove ourselves from the ready list before adding
\r
686 ourselves to the blocked list as the same list item is used for
\r
688 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
689 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
692 xAlreadyYielded = xTaskResumeAll();
\r
694 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
695 have put ourselves to sleep. */
\r
696 if( !xAlreadyYielded )
\r
698 portYIELD_WITHIN_API();
\r
703 /*-----------------------------------------------------------*/
\r
705 #if ( INCLUDE_vTaskDelay == 1 )
\r
707 void vTaskDelay( portTickType xTicksToDelay )
\r
709 portTickType xTimeToWake;
\r
710 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
712 /* A delay time of zero just forces a reschedule. */
\r
713 if( xTicksToDelay > ( portTickType ) 0 )
\r
719 /* A task that is removed from the event list while the
\r
720 scheduler is suspended will not get placed in the ready
\r
721 list or removed from the blocked list until the scheduler
\r
724 This task cannot be in an event list as it is the currently
\r
727 /* Calculate the time to wake - this may overflow but this is
\r
729 xTimeToWake = xTickCount + xTicksToDelay;
\r
731 /* We must remove ourselves from the ready list before adding
\r
732 ourselves to the blocked list as the same list item is used for
\r
734 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
735 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
737 xAlreadyYielded = xTaskResumeAll();
\r
740 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
741 have put ourselves to sleep. */
\r
742 if( !xAlreadyYielded )
\r
744 portYIELD_WITHIN_API();
\r
749 /*-----------------------------------------------------------*/
\r
751 void vTaskUnblockTask( xTaskHandle pxTask )
\r
753 tskTCB *pxTCB = ( tskTCB * ) pxTask;
\r
755 /* This function is not intended to be a public API function and definitely
\r
756 is not for generic use as it assumes pxTask is not the running task and not
\r
757 suspended, does not remove the task from any event lists it might be
\r
758 blocked on, and does not take care of mutual exclusion. */
\r
759 vListRemove( &( pxTCB->xGenericListItem ) );
\r
760 prvAddTaskToReadyQueue( pxTCB );
\r
762 /*-----------------------------------------------------------*/
\r
764 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
766 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
769 unsigned portBASE_TYPE uxReturn;
\r
771 taskENTER_CRITICAL();
\r
773 /* If null is passed in here then we are changing the
\r
774 priority of the calling function. */
\r
775 pxTCB = prvGetTCBFromHandle( pxTask );
\r
776 uxReturn = pxTCB->uxPriority;
\r
778 taskEXIT_CRITICAL();
\r
784 /*-----------------------------------------------------------*/
\r
786 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
788 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
791 unsigned portBASE_TYPE uxCurrentPriority;
\r
792 portBASE_TYPE xYieldRequired = pdFALSE;
\r
794 /* Ensure the new priority is valid. */
\r
795 if( uxNewPriority >= configMAX_PRIORITIES )
\r
797 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
800 taskENTER_CRITICAL();
\r
802 if( pxTask == pxCurrentTCB )
\r
807 /* If null is passed in here then we are changing the
\r
808 priority of the calling function. */
\r
809 pxTCB = prvGetTCBFromHandle( pxTask );
\r
811 traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
\r
813 #if ( configUSE_MUTEXES == 1 )
\r
815 uxCurrentPriority = pxTCB->uxBasePriority;
\r
819 uxCurrentPriority = pxTCB->uxPriority;
\r
823 if( uxCurrentPriority != uxNewPriority )
\r
825 /* The priority change may have readied a task of higher
\r
826 priority than the calling task. */
\r
827 if( uxNewPriority > uxCurrentPriority )
\r
829 if( pxTask != NULL )
\r
831 /* The priority of another task is being raised. If we
\r
832 were raising the priority of the currently running task
\r
833 there would be no need to switch as it must have already
\r
834 been the highest priority task. */
\r
835 xYieldRequired = pdTRUE;
\r
838 else if( pxTask == NULL )
\r
840 /* Setting our own priority down means there may now be another
\r
841 task of higher priority that is ready to execute. */
\r
842 xYieldRequired = pdTRUE;
\r
847 #if ( configUSE_MUTEXES == 1 )
\r
849 /* Only change the priority being used if the task is not
\r
850 currently using an inherited priority. */
\r
851 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
853 pxTCB->uxPriority = uxNewPriority;
\r
856 /* The base priority gets set whatever. */
\r
857 pxTCB->uxBasePriority = uxNewPriority;
\r
861 pxTCB->uxPriority = uxNewPriority;
\r
865 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
867 /* If the task is in the blocked or suspended list we need do
\r
868 nothing more than change it's priority variable. However, if
\r
869 the task is in a ready list it needs to be removed and placed
\r
870 in the queue appropriate to its new priority. */
\r
871 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
873 /* The task is currently in its ready list - remove before adding
\r
874 it to it's new ready list. As we are in a critical section we
\r
875 can do this even if the scheduler is suspended. */
\r
876 vListRemove( &( pxTCB->xGenericListItem ) );
\r
877 prvAddTaskToReadyQueue( pxTCB );
\r
880 if( xYieldRequired == pdTRUE )
\r
882 portYIELD_WITHIN_API();
\r
886 taskEXIT_CRITICAL();
\r
890 /*-----------------------------------------------------------*/
\r
892 #if ( INCLUDE_vTaskSuspend == 1 )
\r
894 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
898 taskENTER_CRITICAL();
\r
900 /* Ensure a yield is performed if the current task is being
\r
902 if( pxTaskToSuspend == pxCurrentTCB )
\r
904 pxTaskToSuspend = NULL;
\r
907 /* If null is passed in here then we are suspending ourselves. */
\r
908 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
910 traceTASK_SUSPEND( pxTCB );
\r
912 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
913 vListRemove( &( pxTCB->xGenericListItem ) );
\r
915 /* Is the task waiting on an event also? */
\r
916 if( pxTCB->xEventListItem.pvContainer )
\r
918 vListRemove( &( pxTCB->xEventListItem ) );
\r
921 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
923 taskEXIT_CRITICAL();
\r
925 if( ( void * ) pxTaskToSuspend == NULL )
\r
927 if( xSchedulerRunning != pdFALSE )
\r
929 /* We have just suspended the current task. */
\r
930 portYIELD_WITHIN_API();
\r
934 /* The scheduler is not running, but the task that was pointed
\r
935 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
936 must be adjusted to point to a different task. */
\r
937 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1U )
\r
939 /* No other tasks are defined, so set pxCurrentTCB back to
\r
940 NULL so when the next task is created pxCurrentTCB will
\r
941 be set to point to it no matter what its relative priority
\r
943 pxCurrentTCB = NULL;
\r
947 vTaskSwitchContext();
\r
954 /*-----------------------------------------------------------*/
\r
956 #if ( INCLUDE_vTaskSuspend == 1 )
\r
958 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
960 portBASE_TYPE xReturn = pdFALSE;
\r
961 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
963 /* Is the task we are attempting to resume actually in the
\r
965 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
967 /* Has the task already been resumed from within an ISR? */
\r
968 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
970 /* Is it in the suspended list because it is in the
\r
971 Suspended state? It is possible to be in the suspended
\r
972 list because it is blocked on a task with no timeout
\r
974 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
985 /*-----------------------------------------------------------*/
\r
987 #if ( INCLUDE_vTaskSuspend == 1 )
\r
989 void vTaskResume( xTaskHandle pxTaskToResume )
\r
993 /* Remove the task from whichever list it is currently in, and place
\r
994 it in the ready list. */
\r
995 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
997 /* The parameter cannot be NULL as it is impossible to resume the
\r
998 currently executing task. */
\r
999 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1001 taskENTER_CRITICAL();
\r
1003 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1005 traceTASK_RESUME( pxTCB );
\r
1007 /* As we are in a critical section we can access the ready
\r
1008 lists even if the scheduler is suspended. */
\r
1009 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1010 prvAddTaskToReadyQueue( pxTCB );
\r
1012 /* We may have just resumed a higher priority task. */
\r
1013 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1015 /* This yield may not cause the task just resumed to run, but
\r
1016 will leave the lists in the correct state for the next yield. */
\r
1017 portYIELD_WITHIN_API();
\r
1021 taskEXIT_CRITICAL();
\r
1027 /*-----------------------------------------------------------*/
\r
1029 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1031 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
1033 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1036 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1038 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1040 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1042 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1044 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1045 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1046 prvAddTaskToReadyQueue( pxTCB );
\r
1050 /* We cannot access the delayed or ready lists, so will hold this
\r
1051 task pending until the scheduler is resumed, at which point a
\r
1052 yield will be performed if necessary. */
\r
1053 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1057 return xYieldRequired;
\r
1065 /*-----------------------------------------------------------
\r
1066 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1067 *----------------------------------------------------------*/
\r
1070 void vTaskStartScheduler( void )
\r
1072 portBASE_TYPE xReturn;
\r
1074 /* Add the idle task at the lowest priority. */
\r
1075 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), ( xTaskHandle * ) NULL );
\r
1077 #if ( configUSE_TIMERS == 1 )
\r
1079 if( xReturn == pdPASS )
\r
1081 xReturn = xTimerCreateTimerTask();
\r
1086 if( xReturn == pdPASS )
\r
1088 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1089 before or during the call to xPortStartScheduler(). The stacks of
\r
1090 the created tasks contain a status word with interrupts switched on
\r
1091 so interrupts will automatically get re-enabled when the first task
\r
1094 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1095 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1096 portDISABLE_INTERRUPTS();
\r
1098 xSchedulerRunning = pdTRUE;
\r
1099 xTickCount = ( portTickType ) 0;
\r
1101 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1102 macro must be defined to configure the timer/counter used to generate
\r
1103 the run time counter time base. */
\r
1104 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1106 /* Setting up the timer tick is hardware specific and thus in the
\r
1107 portable interface. */
\r
1108 if( xPortStartScheduler() )
\r
1110 /* Should not reach here as if the scheduler is running the
\r
1111 function will not return. */
\r
1115 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1119 /*-----------------------------------------------------------*/
\r
1121 void vTaskEndScheduler( void )
\r
1123 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1124 routine so the original ISRs can be restored if necessary. The port
\r
1125 layer must ensure interrupts enable bit is left in the correct state. */
\r
1126 portDISABLE_INTERRUPTS();
\r
1127 xSchedulerRunning = pdFALSE;
\r
1128 vPortEndScheduler();
\r
1130 /*----------------------------------------------------------*/
\r
1132 void vTaskSuspendAll( void )
\r
1134 /* A critical section is not required as the variable is of type
\r
1136 ++uxSchedulerSuspended;
\r
1138 /*----------------------------------------------------------*/
\r
1140 signed portBASE_TYPE xTaskResumeAll( void )
\r
1142 register tskTCB *pxTCB;
\r
1143 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1145 /* It is possible that an ISR caused a task to be removed from an event
\r
1146 list while the scheduler was suspended. If this was the case then the
\r
1147 removed task will have been added to the xPendingReadyList. Once the
\r
1148 scheduler has been resumed it is safe to move all the pending ready
\r
1149 tasks from this list into their appropriate ready list. */
\r
1150 taskENTER_CRITICAL();
\r
1152 --uxSchedulerSuspended;
\r
1154 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1156 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
\r
1158 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1160 /* Move any readied tasks from the pending list into the
\r
1161 appropriate ready list. */
\r
1162 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1164 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1165 vListRemove( &( pxTCB->xEventListItem ) );
\r
1166 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1167 prvAddTaskToReadyQueue( pxTCB );
\r
1169 /* If we have moved a task that has a priority higher than
\r
1170 the current task then we should yield. */
\r
1171 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1173 xYieldRequired = pdTRUE;
\r
1177 /* If any ticks occurred while the scheduler was suspended then
\r
1178 they should be processed now. This ensures the tick count does not
\r
1179 slip, and that any delayed tasks are resumed at the correct time. */
\r
1180 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1182 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1184 vTaskIncrementTick();
\r
1188 /* As we have processed some ticks it is appropriate to yield
\r
1189 to ensure the highest priority task that is ready to run is
\r
1190 the task actually running. */
\r
1191 #if configUSE_PREEMPTION == 1
\r
1193 xYieldRequired = pdTRUE;
\r
1198 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1200 xAlreadyYielded = pdTRUE;
\r
1201 xMissedYield = pdFALSE;
\r
1202 portYIELD_WITHIN_API();
\r
1207 taskEXIT_CRITICAL();
\r
1209 return xAlreadyYielded;
\r
1217 /*-----------------------------------------------------------
\r
1218 * PUBLIC TASK UTILITIES documented in task.h
\r
1219 *----------------------------------------------------------*/
\r
1223 portTickType xTaskGetTickCount( void )
\r
1225 portTickType xTicks;
\r
1227 /* Critical section required if running on a 16 bit processor. */
\r
1228 taskENTER_CRITICAL();
\r
1230 xTicks = xTickCount;
\r
1232 taskEXIT_CRITICAL();
\r
1236 /*-----------------------------------------------------------*/
\r
1238 portTickType xTaskGetTickCountFromISR( void )
\r
1240 return xTickCount;
\r
1242 /*-----------------------------------------------------------*/
\r
1244 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1246 /* A critical section is not required because the variables are of type
\r
1248 return uxCurrentNumberOfTasks;
\r
1250 /*-----------------------------------------------------------*/
\r
1252 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1254 void vTaskList( signed char *pcWriteBuffer )
\r
1256 unsigned portBASE_TYPE uxQueue;
\r
1258 /* This is a VERY costly function that should be used for debug only.
\r
1259 It leaves interrupts disabled for a LONG time. */
\r
1261 vTaskSuspendAll();
\r
1263 /* Run through all the lists that could potentially contain a TCB and
\r
1264 report the task name, state and stack high water mark. */
\r
1266 *pcWriteBuffer = ( signed char ) 0x00;
\r
1267 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1269 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1275 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1277 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1279 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1281 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1283 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1286 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1288 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1291 #if( INCLUDE_vTaskDelete == 1 )
\r
1293 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1295 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1300 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1302 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1304 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1313 /*----------------------------------------------------------*/
\r
1315 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1317 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1319 unsigned portBASE_TYPE uxQueue;
\r
1320 unsigned long ulTotalRunTime;
\r
1322 /* This is a VERY costly function that should be used for debug only.
\r
1323 It leaves interrupts disabled for a LONG time. */
\r
1325 vTaskSuspendAll();
\r
1327 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1328 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1330 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1333 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1334 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1335 ulTotalRunTime /= 100UL;
\r
1337 /* Run through all the lists that could potentially contain a TCB,
\r
1338 generating a table of run timer percentages in the provided
\r
1341 *pcWriteBuffer = ( signed char ) 0x00;
\r
1342 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1344 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1350 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1352 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
\r
1354 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1356 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1358 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
\r
1361 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1363 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
\r
1366 #if ( INCLUDE_vTaskDelete == 1 )
\r
1368 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1370 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, ulTotalRunTime );
\r
1375 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1377 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1379 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, ulTotalRunTime );
\r
1388 /*----------------------------------------------------------*/
\r
1390 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1392 void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize )
\r
1394 taskENTER_CRITICAL();
\r
1396 pcTraceBuffer = ( signed char * )pcBuffer;
\r
1397 pcTraceBufferStart = pcBuffer;
\r
1398 pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
\r
1399 xTracing = pdTRUE;
\r
1401 taskEXIT_CRITICAL();
\r
1405 /*----------------------------------------------------------*/
\r
1407 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1409 unsigned long ulTaskEndTrace( void )
\r
1411 unsigned long ulBufferLength;
\r
1413 taskENTER_CRITICAL();
\r
1414 xTracing = pdFALSE;
\r
1415 taskEXIT_CRITICAL();
\r
1417 ulBufferLength = ( unsigned long ) ( pcTraceBuffer - pcTraceBufferStart );
\r
1419 return ulBufferLength;
\r
1426 /*-----------------------------------------------------------
\r
1427 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1428 * documented in task.h
\r
1429 *----------------------------------------------------------*/
\r
1432 void vTaskIncrementTick( void )
\r
1434 /* Called by the portable layer each time a tick interrupt occurs.
\r
1435 Increments the tick then checks to see if the new tick value will cause any
\r
1436 tasks to be unblocked. */
\r
1437 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1440 if( xTickCount == ( portTickType ) 0 )
\r
1444 /* Tick count has overflowed so we need to swap the delay lists.
\r
1445 If there are any items in pxDelayedTaskList here then there is
\r
1447 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );
\r
1449 pxTemp = pxDelayedTaskList;
\r
1450 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1451 pxOverflowDelayedTaskList = pxTemp;
\r
1452 xNumOfOverflows++;
\r
1454 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1456 /* The delayed list is empty. Set xNextTaskUnblockTime to the
\r
1457 maximum possible value so it is extremely unlikely that the
\r
1458 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1459 until there is an item in the delayed list. */
\r
1460 xNextTaskUnblockTime = portMAX_DELAY;
\r
1466 /* The delayed list is not empty, get the value of the item at
\r
1467 the head of the delayed list. This is the time at which the
\r
1468 task at the head of the delayed list should be removed from
\r
1469 the Blocked state. */
\r
1470 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1471 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1475 /* See if this tick has made a timeout expire. */
\r
1476 prvCheckDelayedTasks();
\r
1482 /* The tick hook gets called at regular intervals, even if the
\r
1483 scheduler is locked. */
\r
1484 #if ( configUSE_TICK_HOOK == 1 )
\r
1486 extern void vApplicationTickHook( void );
\r
1488 vApplicationTickHook();
\r
1493 #if ( configUSE_TICK_HOOK == 1 )
\r
1495 extern void vApplicationTickHook( void );
\r
1497 /* Guard against the tick hook being called when the missed tick
\r
1498 count is being unwound (when the scheduler is being unlocked. */
\r
1499 if( uxMissedTicks == 0 )
\r
1501 vApplicationTickHook();
\r
1506 traceTASK_INCREMENT_TICK( xTickCount );
\r
1508 /*-----------------------------------------------------------*/
\r
1510 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1512 void vTaskCleanUpResources( void )
\r
1514 unsigned short usQueue;
\r
1515 volatile tskTCB *pxTCB;
\r
1517 usQueue = ( unsigned short ) uxTopUsedPriority + ( unsigned short ) 1;
\r
1519 /* Remove any TCB's from the ready queues. */
\r
1524 while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
\r
1526 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
\r
1527 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1529 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1531 }while( usQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1533 /* Remove any TCB's from the delayed queue. */
\r
1534 while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
\r
1536 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
\r
1537 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1539 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1542 /* Remove any TCB's from the overflow delayed queue. */
\r
1543 while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
\r
1545 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
\r
1546 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1548 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1551 while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1553 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
\r
1554 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1556 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1561 /*-----------------------------------------------------------*/
\r
1563 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1565 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue )
\r
1569 /* If xTask is NULL then we are setting our own task hook. */
\r
1570 if( xTask == NULL )
\r
1572 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1576 xTCB = ( tskTCB * ) xTask;
\r
1579 /* Save the hook function in the TCB. A critical section is required as
\r
1580 the value can be accessed from an interrupt. */
\r
1581 taskENTER_CRITICAL();
\r
1582 xTCB->pxTaskTag = pxTagValue;
\r
1583 taskEXIT_CRITICAL();
\r
1587 /*-----------------------------------------------------------*/
\r
1589 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1591 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1594 pdTASK_HOOK_CODE xReturn;
\r
1596 /* If xTask is NULL then we are setting our own task hook. */
\r
1597 if( xTask == NULL )
\r
1599 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1603 xTCB = ( tskTCB * ) xTask;
\r
1606 /* Save the hook function in the TCB. A critical section is required as
\r
1607 the value can be accessed from an interrupt. */
\r
1608 taskENTER_CRITICAL();
\r
1609 xReturn = xTCB->pxTaskTag;
\r
1610 taskEXIT_CRITICAL();
\r
1616 /*-----------------------------------------------------------*/
\r
1618 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1620 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1623 portBASE_TYPE xReturn;
\r
1625 /* If xTask is NULL then we are calling our own task hook. */
\r
1626 if( xTask == NULL )
\r
1628 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1632 xTCB = ( tskTCB * ) xTask;
\r
1635 if( xTCB->pxTaskTag != NULL )
\r
1637 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1648 /*-----------------------------------------------------------*/
\r
1650 void vTaskSwitchContext( void )
\r
1652 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1654 /* The scheduler is currently suspended - do not allow a context
\r
1656 xMissedYield = pdTRUE;
\r
1660 traceTASK_SWITCHED_OUT();
\r
1662 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1664 unsigned long ulTempCounter;
\r
1666 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1667 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter );
\r
1669 ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
\r
1672 /* Add the amount of time the task has been running to the accumulated
\r
1673 time so far. The time the task started running was stored in
\r
1674 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1675 so count values are only valid until the timer overflows. Generally
\r
1676 this will be about 1 hour assuming a 1uS timer increment. */
\r
1677 pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
\r
1678 ulTaskSwitchedInTime = ulTempCounter;
\r
1682 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1683 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1685 /* Find the highest priority queue that contains ready tasks. */
\r
1686 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1688 --uxTopReadyPriority;
\r
1691 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1692 same priority get an equal share of the processor time. */
\r
1693 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1695 traceTASK_SWITCHED_IN();
\r
1696 vWriteTraceToBuffer();
\r
1699 /*-----------------------------------------------------------*/
\r
1701 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1703 portTickType xTimeToWake;
\r
1705 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1706 SCHEDULER SUSPENDED. */
\r
1708 /* Place the event list item of the TCB in the appropriate event list.
\r
1709 This is placed in the list in priority order so the highest priority task
\r
1710 is the first to be woken by the event. */
\r
1711 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1713 /* We must remove ourselves from the ready list before adding ourselves
\r
1714 to the blocked list as the same list item is used for both lists. We have
\r
1715 exclusive access to the ready lists as the scheduler is locked. */
\r
1716 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1719 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1721 if( xTicksToWait == portMAX_DELAY )
\r
1723 /* Add ourselves to the suspended task list instead of a delayed task
\r
1724 list to ensure we are not woken by a timing event. We will block
\r
1726 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1730 /* Calculate the time at which the task should be woken if the event does
\r
1731 not occur. This may overflow but this doesn't matter. */
\r
1732 xTimeToWake = xTickCount + xTicksToWait;
\r
1733 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1738 /* Calculate the time at which the task should be woken if the event does
\r
1739 not occur. This may overflow but this doesn't matter. */
\r
1740 xTimeToWake = xTickCount + xTicksToWait;
\r
1741 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1745 /*-----------------------------------------------------------*/
\r
1747 #if configUSE_TIMERS == 1
\r
1749 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1751 portTickType xTimeToWake;
\r
1753 /* This function should not be called by application code hence the
\r
1754 'Restricted' in its name. It is not part of the public API. It is
\r
1755 designed for use by kernel code, and has special calling requirements -
\r
1756 it should be called from a critical section. */
\r
1759 /* Place the event list item of the TCB in the appropriate event list.
\r
1760 In this case it is assume that this is the only task that is going to
\r
1761 be waiting on this event list, so the faster vListInsertEnd() function
\r
1762 can be used in place of vListInsert. */
\r
1763 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1765 /* We must remove this task from the ready list before adding it to the
\r
1766 blocked list as the same list item is used for both lists. This
\r
1767 function is called form a critical section. */
\r
1768 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1770 /* Calculate the time at which the task should be woken if the event does
\r
1771 not occur. This may overflow but this doesn't matter. */
\r
1772 xTimeToWake = xTickCount + xTicksToWait;
\r
1773 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1776 #endif /* configUSE_TIMERS */
\r
1777 /*-----------------------------------------------------------*/
\r
1779 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1781 tskTCB *pxUnblockedTCB;
\r
1782 portBASE_TYPE xReturn;
\r
1784 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1785 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1787 /* The event list is sorted in priority order, so we can remove the
\r
1788 first in the list, remove the TCB from the delayed list, and add
\r
1789 it to the ready list.
\r
1791 If an event is for a queue that is locked then this function will never
\r
1792 get called - the lock count on the queue will get modified instead. This
\r
1793 means we can always expect exclusive access to the event list here.
\r
1795 This function assumes that a check has already been made to ensure that
\r
1796 pxEventList is not empty. */
\r
1797 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1798 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1800 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1802 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1803 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1807 /* We cannot access the delayed or ready lists, so will hold this
\r
1808 task pending until the scheduler is resumed. */
\r
1809 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1812 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1814 /* Return true if the task removed from the event list has
\r
1815 a higher priority than the calling task. This allows
\r
1816 the calling task to know if it should force a context
\r
1822 xReturn = pdFALSE;
\r
1827 /*-----------------------------------------------------------*/
\r
1829 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1831 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1832 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1834 /*-----------------------------------------------------------*/
\r
1836 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1838 portBASE_TYPE xReturn;
\r
1840 taskENTER_CRITICAL();
\r
1842 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1843 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1844 the maximum block time then the task should block indefinitely, and
\r
1845 therefore never time out. */
\r
1846 if( *pxTicksToWait == portMAX_DELAY )
\r
1848 xReturn = pdFALSE;
\r
1850 else /* We are not blocking indefinitely, perform the checks below. */
\r
1853 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
1855 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1856 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1857 It must have wrapped all the way around and gone past us again. This
\r
1858 passed since vTaskSetTimeout() was called. */
\r
1861 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
1863 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1864 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
1865 vTaskSetTimeOutState( pxTimeOut );
\r
1866 xReturn = pdFALSE;
\r
1873 taskEXIT_CRITICAL();
\r
1877 /*-----------------------------------------------------------*/
\r
1879 void vTaskMissedYield( void )
\r
1881 xMissedYield = pdTRUE;
\r
1885 * -----------------------------------------------------------
\r
1887 * ----------------------------------------------------------
\r
1889 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1890 * language extensions. The equivalent prototype for this function is:
\r
1892 * void prvIdleTask( void *pvParameters );
\r
1895 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1897 /* Stop warnings. */
\r
1898 ( void ) pvParameters;
\r
1902 /* See if any tasks have been deleted. */
\r
1903 prvCheckTasksWaitingTermination();
\r
1905 #if ( configUSE_PREEMPTION == 0 )
\r
1907 /* If we are not using preemption we keep forcing a task switch to
\r
1908 see if any other task has become available. If we are using
\r
1909 preemption we don't need to do this as any task becoming available
\r
1910 will automatically get the processor anyway. */
\r
1915 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1917 /* When using preemption tasks of equal priority will be
\r
1918 timesliced. If a task that is sharing the idle priority is ready
\r
1919 to run then the idle task should yield before the end of the
\r
1922 A critical region is not required here as we are just reading from
\r
1923 the list, and an occasional incorrect value will not matter. If
\r
1924 the ready list at the idle priority contains more than one task
\r
1925 then a task other than the idle task is ready to execute. */
\r
1926 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1933 #if ( configUSE_IDLE_HOOK == 1 )
\r
1935 extern void vApplicationIdleHook( void );
\r
1937 /* Call the user defined function from within the idle task. This
\r
1938 allows the application designer to add background functionality
\r
1939 without the overhead of a separate task.
\r
1940 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1941 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1942 vApplicationIdleHook();
\r
1946 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1954 /*-----------------------------------------------------------
\r
1955 * File private functions documented at the top of the file.
\r
1956 *----------------------------------------------------------*/
\r
1960 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
1962 /* Store the function name in the TCB. */
\r
1963 #if configMAX_TASK_NAME_LEN > 1
\r
1965 /* Don't bring strncpy into the build unnecessarily. */
\r
1966 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
1969 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
\r
1971 /* This is used as an array index so must ensure it's not too large. First
\r
1972 remove the privilege bit if one is present. */
\r
1973 if( uxPriority >= configMAX_PRIORITIES )
\r
1975 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
1978 pxTCB->uxPriority = uxPriority;
\r
1979 #if ( configUSE_MUTEXES == 1 )
\r
1981 pxTCB->uxBasePriority = uxPriority;
\r
1985 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
1986 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
1988 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
1989 back to the containing TCB from a generic item in a list. */
\r
1990 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
1992 /* Event lists are always in priority order. */
\r
1993 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
1994 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
1996 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
1998 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
\r
2002 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2004 pxTCB->pxTaskTag = NULL;
\r
2008 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2010 pxTCB->ulRunTimeCounter = 0UL;
\r
2014 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2016 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2020 ( void ) xRegions;
\r
2021 ( void ) usStackDepth;
\r
2025 /*-----------------------------------------------------------*/
\r
2027 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2029 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2033 if( xTaskToModify == pxCurrentTCB )
\r
2035 xTaskToModify = NULL;
\r
2038 /* If null is passed in here then we are deleting ourselves. */
\r
2039 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2041 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2043 /*-----------------------------------------------------------*/
\r
2046 static void prvInitialiseTaskLists( void )
\r
2048 unsigned portBASE_TYPE uxPriority;
\r
2050 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2052 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2055 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2056 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2057 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2059 #if ( INCLUDE_vTaskDelete == 1 )
\r
2061 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2065 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2067 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2071 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2073 pxDelayedTaskList = &xDelayedTaskList1;
\r
2074 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2076 /*-----------------------------------------------------------*/
\r
2078 static void prvCheckTasksWaitingTermination( void )
\r
2080 #if ( INCLUDE_vTaskDelete == 1 )
\r
2082 portBASE_TYPE xListIsEmpty;
\r
2084 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2085 too often in the idle task. */
\r
2086 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
\r
2088 vTaskSuspendAll();
\r
2089 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2092 if( xListIsEmpty == pdFALSE )
\r
2096 taskENTER_CRITICAL();
\r
2098 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2099 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2100 --uxCurrentNumberOfTasks;
\r
2103 taskEXIT_CRITICAL();
\r
2105 prvDeleteTCB( pxTCB );
\r
2111 /*-----------------------------------------------------------*/
\r
2113 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2115 /* The list item will be inserted in wake time order. */
\r
2116 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2118 if( xTimeToWake < xTickCount )
\r
2120 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2121 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2125 /* The wake time has not overflowed, so we can use the current block list. */
\r
2126 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2128 /* If the task entering the blocked state was placed at the head of the
\r
2129 list of blocked tasks then xNextTaskUnmblockTime needs to be updated
\r
2131 if( xTimeToWake < xNextTaskUnblockTime )
\r
2133 xNextTaskUnblockTime = xTimeToWake;
\r
2137 /*-----------------------------------------------------------*/
\r
2139 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2143 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2144 the implementation of the port malloc function. */
\r
2145 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2147 if( pxNewTCB != NULL )
\r
2149 /* Allocate space for the stack used by the task being created.
\r
2150 The base of the stack memory stored in the TCB so the task can
\r
2151 be deleted later if required. */
\r
2152 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2154 if( pxNewTCB->pxStack == NULL )
\r
2156 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2157 vPortFree( pxNewTCB );
\r
2162 /* Just to help debugging. */
\r
2163 memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2169 /*-----------------------------------------------------------*/
\r
2171 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2173 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2175 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2176 unsigned short usStackRemaining;
\r
2178 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2179 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2182 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2183 #if ( portSTACK_GROWTH > 0 )
\r
2185 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2189 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2193 sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
\r
2194 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2196 } while( pxNextTCB != pxFirstTCB );
\r
2200 /*-----------------------------------------------------------*/
\r
2202 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2204 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
\r
2206 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2207 unsigned long ulStatsAsPercentage;
\r
2209 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2210 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2213 /* Get next TCB in from the list. */
\r
2214 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2216 /* Divide by zero check. */
\r
2217 if( ulTotalRunTime > 0UL )
\r
2219 /* Has the task run at all? */
\r
2220 if( pxNextTCB->ulRunTimeCounter == 0 )
\r
2222 /* The task has used no CPU time at all. */
\r
2223 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2227 /* What percentage of the total run time has the task used?
\r
2228 This will always be rounded down to the nearest integer.
\r
2229 ulTotalRunTime has already been divided by 100. */
\r
2230 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime;
\r
2232 if( ulStatsAsPercentage > 0UL )
\r
2234 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2236 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2240 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2241 printf() library can be used. */
\r
2242 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2248 /* If the percentage is zero here then the task has
\r
2249 consumed less than 1% of the total run time. */
\r
2250 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2252 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2256 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2257 printf() library can be used. */
\r
2258 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2264 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2267 } while( pxNextTCB != pxFirstTCB );
\r
2271 /*-----------------------------------------------------------*/
\r
2273 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2275 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2277 register unsigned short usCount = 0;
\r
2279 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2281 pucStackByte -= portSTACK_GROWTH;
\r
2285 usCount /= sizeof( portSTACK_TYPE );
\r
2291 /*-----------------------------------------------------------*/
\r
2293 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2295 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2298 unsigned char *pcEndOfStack;
\r
2299 unsigned portBASE_TYPE uxReturn;
\r
2301 pxTCB = prvGetTCBFromHandle( xTask );
\r
2303 #if portSTACK_GROWTH < 0
\r
2305 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2309 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2313 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2319 /*-----------------------------------------------------------*/
\r
2321 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
\r
2323 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2325 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2326 the task to free any memory allocated at the application level. */
\r
2327 vPortFreeAligned( pxTCB->pxStack );
\r
2328 vPortFree( pxTCB );
\r
2334 /*-----------------------------------------------------------*/
\r
2336 #if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
\r
2338 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2340 xTaskHandle xReturn;
\r
2342 /* A critical section is not required as this is not called from
\r
2343 an interrupt and the current TCB will always be the same for any
\r
2344 individual execution thread. */
\r
2345 xReturn = pxCurrentTCB;
\r
2352 /*-----------------------------------------------------------*/
\r
2354 #if ( INCLUDE_xTaskGetSchedulerState == 1 )
\r
2356 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2358 portBASE_TYPE xReturn;
\r
2360 if( xSchedulerRunning == pdFALSE )
\r
2362 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2366 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2368 xReturn = taskSCHEDULER_RUNNING;
\r
2372 xReturn = taskSCHEDULER_SUSPENDED;
\r
2380 /*-----------------------------------------------------------*/
\r
2382 #if ( configUSE_MUTEXES == 1 )
\r
2384 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2386 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2388 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2390 /* Adjust the mutex holder state to account for its new priority. */
\r
2391 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2393 /* If the task being modified is in the ready state it will need to
\r
2394 be moved in to a new list. */
\r
2395 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
2397 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2399 /* Inherit the priority before being moved into the new list. */
\r
2400 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2401 prvAddTaskToReadyQueue( pxTCB );
\r
2405 /* Just inherit the priority. */
\r
2406 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2412 /*-----------------------------------------------------------*/
\r
2414 #if ( configUSE_MUTEXES == 1 )
\r
2416 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2418 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2420 if( pxMutexHolder != NULL )
\r
2422 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2424 /* We must be the running task to be able to give the mutex back.
\r
2425 Remove ourselves from the ready list we currently appear in. */
\r
2426 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2428 /* Disinherit the priority before adding ourselves into the new
\r
2430 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2431 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2432 prvAddTaskToReadyQueue( pxTCB );
\r
2438 /*-----------------------------------------------------------*/
\r
2440 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2442 void vTaskEnterCritical( void )
\r
2444 portDISABLE_INTERRUPTS();
\r
2446 if( xSchedulerRunning != pdFALSE )
\r
2448 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2453 /*-----------------------------------------------------------*/
\r
2455 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2457 void vTaskExitCritical( void )
\r
2459 if( xSchedulerRunning != pdFALSE )
\r
2461 if( pxCurrentTCB->uxCriticalNesting > 0 )
\r
2463 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2465 if( pxCurrentTCB->uxCriticalNesting == 0 )
\r
2467 portENABLE_INTERRUPTS();
\r
2474 /*-----------------------------------------------------------*/
\r
projects / freertos / blob