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   1 /*\r
   2         FreeRTOS.org V5.0.2 - Copyright (C) 2003-2008 Richard Barry.\r
   3 \r
   4         This file is part of the FreeRTOS.org distribution.\r
   5 \r
   6         FreeRTOS.org is free software; you can redistribute it and/or modify\r
   7         it under the terms of the GNU General Public License as published by\r
   8         the Free Software Foundation; either version 2 of the License, or\r
   9         (at your option) any later version.\r
  10 \r
  11         FreeRTOS.org is distributed in the hope that it will be useful,\r
  12         but WITHOUT ANY WARRANTY; without even the implied warranty of\r
  13         MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\r
  14         GNU General Public License for more details.\r
  15 \r
  16         You should have received a copy of the GNU General Public License\r
  17         along with FreeRTOS.org; if not, write to the Free Software\r
  18         Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA\r
  19 \r
  20         A special exception to the GPL can be applied should you wish to distribute\r
  21         a combined work that includes FreeRTOS.org, without being obliged to provide\r
  22         the source code for any proprietary components.  See the licensing section\r
  23         of http://www.FreeRTOS.org for full details of how and when the exception\r
  24         can be applied.\r
  25 \r
  26     ***************************************************************************\r
  27     ***************************************************************************\r
  28     *                                                                         *\r
  29     * SAVE TIME AND MONEY!  We can port FreeRTOS.org to your own hardware,    *\r
  30     * and even write all or part of your application on your behalf.          *\r
  31     * See http://www.OpenRTOS.com for details of the services we provide to   *\r
  32     * expedite your project.                                                  *\r
  33     *                                                                         *\r
  34     ***************************************************************************\r
  35     ***************************************************************************\r
  36 \r
  37         Please ensure to read the configuration and relevant port sections of the\r
  38         online documentation.\r
  39 \r
  40         http://www.FreeRTOS.org - Documentation, latest information, license and \r
  41         contact details.\r
  42 \r
  43         http://www.SafeRTOS.com - A version that is certified for use in safety \r
  44         critical systems.\r
  45 \r
  46         http://www.OpenRTOS.com - Commercial support, development, porting, \r
  47         licensing and training services.\r
  48 */\r
  49 \r
  50 \r
  51 #include <stdio.h>\r
  52 #include <stdlib.h>\r
  53 #include <string.h>\r
  54 \r
  55 #include "FreeRTOS.h"\r
  56 #include "task.h"\r
  57 \r
  58 /*\r
  59  * Macro to define the amount of stack available to the idle task.\r
  60  */\r
  61 #define tskIDLE_STACK_SIZE      configMINIMAL_STACK_SIZE\r
  62 \r
  63 /*\r
  64  * Task control block.  A task control block (TCB) is allocated to each task,\r
  65  * and stores the context of the task.\r
  66  */\r
  67 typedef struct tskTaskControlBlock\r
  68 {\r
  69         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. */\r
  70         xListItem                               xGenericListItem;       /*< List item used to place the TCB in ready and blocked queues. */\r
  71         xListItem                               xEventListItem;         /*< List item used to place the TCB in event lists. */\r
  72         unsigned portBASE_TYPE  uxPriority;                     /*< The priority of the task where 0 is the lowest priority. */\r
  73         portSTACK_TYPE                  *pxStack;                       /*< Points to the start of the stack. */\r
  74         signed portCHAR                 pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created.  Facilitates debugging only. */\r
  75 \r
  76         #if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
  77                 unsigned portBASE_TYPE uxCriticalNesting;\r
  78         #endif\r
  79 \r
  80         #if ( configUSE_TRACE_FACILITY == 1 )\r
  81                 unsigned portBASE_TYPE  uxTCBNumber;            /*< This is used for tracing the scheduler and making debugging easier only. */\r
  82         #endif  \r
  83                 \r
  84         #if ( configUSE_MUTEXES == 1 )\r
  85                 unsigned portBASE_TYPE uxBasePriority;\r
  86         #endif\r
  87 \r
  88         #if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
  89                 pdTASK_HOOK_CODE pxTaskTag;\r
  90         #endif\r
  91                 \r
  92 } tskTCB;\r
  93 \r
  94 /*\r
  95  * Some kernel aware debuggers require data to be viewed to be global, rather\r
  96  * than file scope.\r
  97  */\r
  98 #ifdef portREMOVE_STATIC_QUALIFIER\r
  99         #define static\r
 100 #endif\r
 101 \r
 102 /*lint -e956 */\r
 103 \r
 104 tskTCB * volatile pxCurrentTCB = NULL;                                  \r
 105 \r
 106 /* Lists for ready and blocked tasks. --------------------*/\r
 107 \r
 108 static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */\r
 109 static xList xDelayedTaskList1;                                                 /*< Delayed tasks. */\r
 110 static xList xDelayedTaskList2;                                                 /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */\r
 111 static xList * volatile pxDelayedTaskList;                              /*< Points to the delayed task list currently being used. */\r
 112 static xList * volatile pxOverflowDelayedTaskList;              /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */\r
 113 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. */\r
 114 \r
 115 #if ( INCLUDE_vTaskDelete == 1 )\r
 116 \r
 117         static volatile xList xTasksWaitingTermination;         /*< Tasks that have been deleted - but the their memory not yet freed. */\r
 118         static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;\r
 119 \r
 120 #endif\r
 121 \r
 122 #if ( INCLUDE_vTaskSuspend == 1 )\r
 123 \r
 124         static xList xSuspendedTaskList;                                        /*< Tasks that are currently suspended. */\r
 125 \r
 126 #endif\r
 127 \r
 128 /* File private variables. --------------------------------*/\r
 129 static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks   = ( unsigned portBASE_TYPE ) 0;\r
 130 static volatile portTickType xTickCount                                                 = ( portTickType ) 0;\r
 131 static unsigned portBASE_TYPE uxTopUsedPriority                                 = tskIDLE_PRIORITY;\r
 132 static volatile unsigned portBASE_TYPE uxTopReadyPriority               = tskIDLE_PRIORITY;\r
 133 static volatile signed portBASE_TYPE xSchedulerRunning                  = pdFALSE;\r
 134 static volatile unsigned portBASE_TYPE uxSchedulerSuspended             = ( unsigned portBASE_TYPE ) pdFALSE;\r
 135 static volatile unsigned portBASE_TYPE uxMissedTicks                    = ( unsigned portBASE_TYPE ) 0;\r
 136 static volatile portBASE_TYPE xMissedYield                                              = ( portBASE_TYPE ) pdFALSE;\r
 137 static volatile portBASE_TYPE xNumOfOverflows                                   = ( portBASE_TYPE ) 0;\r
 138 /* Debugging and trace facilities private variables and macros. ------------*/\r
 139 \r
 140 /*\r
 141  * The value used to fill the stack of a task when the task is created.  This\r
 142  * is used purely for checking the high water mark for tasks.\r
 143  */\r
 144 #define tskSTACK_FILL_BYTE      ( 0xa5 )\r
 145 \r
 146 /*\r
 147  * Macros used by vListTask to indicate which state a task is in.\r
 148  */\r
 149 #define tskBLOCKED_CHAR         ( ( signed portCHAR ) 'B' )\r
 150 #define tskREADY_CHAR           ( ( signed portCHAR ) 'R' )\r
 151 #define tskDELETED_CHAR         ( ( signed portCHAR ) 'D' )\r
 152 #define tskSUSPENDED_CHAR       ( ( signed portCHAR ) 'S' )\r
 153 \r
 154 /*\r
 155  * Macros and private variables used by the trace facility.\r
 156  */\r
 157 #if ( configUSE_TRACE_FACILITY == 1 )\r
 158 \r
 159         #define tskSIZE_OF_EACH_TRACE_LINE                      ( ( unsigned portLONG ) ( sizeof( unsigned portLONG ) + sizeof( unsigned portLONG ) ) )\r
 160         static volatile signed portCHAR * volatile pcTraceBuffer;\r
 161         static signed portCHAR *pcTraceBufferStart;\r
 162         static signed portCHAR *pcTraceBufferEnd;\r
 163         static signed portBASE_TYPE xTracing = pdFALSE;\r
 164 \r
 165 #endif\r
 166 \r
 167 /*-----------------------------------------------------------*/\r
 168 \r
 169 /*\r
 170  * Macro that writes a trace of scheduler activity to a buffer.  This trace\r
 171  * shows which task is running when and is very useful as a debugging tool.\r
 172  * As this macro is called each context switch it is a good idea to undefine\r
 173  * it if not using the facility.\r
 174  */\r
 175 #if ( configUSE_TRACE_FACILITY == 1 )\r
 176 \r
 177         #define vWriteTraceToBuffer()                                                                                                                                   \\r
 178         {                                                                                                                                                                                               \\r
 179                 if( xTracing )                                                                                                                                                          \\r
 180                 {                                                                                                                                                                                       \\r
 181                         static unsigned portBASE_TYPE uxPreviousTask = 255;                                                                             \\r
 182                                                                                                                                                                                                         \\r
 183                         if( uxPreviousTask != pxCurrentTCB->uxTCBNumber )                                                                               \\r
 184                         {                                                                                                                                                                               \\r
 185                                 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd )                         \\r
 186                                 {                                                                                                                                                                       \\r
 187                                         uxPreviousTask = pxCurrentTCB->uxTCBNumber;                                                                             \\r
 188                                         *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) xTickCount;              \\r
 189                                         pcTraceBuffer += sizeof( unsigned portLONG );                                                                   \\r
 190                                         *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) uxPreviousTask;  \\r
 191                                         pcTraceBuffer += sizeof( unsigned portLONG );                                                                   \\r
 192                                 }                                                                                                                                                                       \\r
 193                                 else                                                                                                                                                            \\r
 194                                 {                                                                                                                                                                       \\r
 195                                         xTracing = pdFALSE;                                                                                                                             \\r
 196                                 }                                                                                                                                                                       \\r
 197                         }                                                                                                                                                                               \\r
 198                 }                                                                                                                                                                                       \\r
 199         }\r
 200 \r
 201 #else\r
 202 \r
 203         #define vWriteTraceToBuffer()\r
 204 \r
 205 #endif\r
 206 /*-----------------------------------------------------------*/\r
 207 \r
 208 /*\r
 209  * Place the task represented by pxTCB into the appropriate ready queue for\r
 210  * the task.  It is inserted at the end of the list.  One quirk of this is\r
 211  * that if the task being inserted is at the same priority as the currently\r
 212  * executing task, then it will only be rescheduled after the currently\r
 213  * executing task has been rescheduled.\r
 214  */\r
 215 #define prvAddTaskToReadyQueue( pxTCB )                                                                                                                                                 \\r
 216 {                                                                                                                                                                                                                               \\r
 217         if( pxTCB->uxPriority > uxTopReadyPriority )                                                                                                                            \\r
 218         {                                                                                                                                                                                                                       \\r
 219                 uxTopReadyPriority = pxTCB->uxPriority;                                                                                                                                 \\r
 220         }                                                                                                                                                                                                                       \\r
 221         vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) );        \\r
 222 }\r
 223 /*-----------------------------------------------------------*/         \r
 224 \r
 225 /*\r
 226  * Macro that looks at the list of tasks that are currently delayed to see if\r
 227  * any require waking.\r
 228  *\r
 229  * Tasks are stored in the queue in the order of their wake time - meaning\r
 230  * once one tasks has been found whose timer has not expired we need not look\r
 231  * any further down the list.\r
 232  */\r
 233 #define prvCheckDelayedTasks()                                                                                                                                                                          \\r
 234 {                                                                                                                                                                                                                                       \\r
 235 register tskTCB *pxTCB;                                                                                                                                                                                         \\r
 236                                                                                                                                                                                                                                         \\r
 237         while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL )                                              \\r
 238         {                                                                                                                                                                                                                               \\r
 239                 if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) )                                                                      \\r
 240                 {                                                                                                                                                                                                                       \\r
 241                         break;                                                                                                                                                                                                  \\r
 242                 }                                                                                                                                                                                                                       \\r
 243                 vListRemove( &( pxTCB->xGenericListItem ) );                                                                                                                            \\r
 244                 /* Is the task waiting on an event also? */                                                                                                                                     \\r
 245                 if( pxTCB->xEventListItem.pvContainer )                                                                                                                                         \\r
 246                 {                                                                                                                                                                                                                       \\r
 247                         vListRemove( &( pxTCB->xEventListItem ) );                                                                                                                              \\r
 248                 }                                                                                                                                                                                                                       \\r
 249                 prvAddTaskToReadyQueue( pxTCB );                                                                                                                                                        \\r
 250         }                                                                                                                                                                                                                               \\r
 251 }\r
 252 /*-----------------------------------------------------------*/\r
 253 \r
 254 /*\r
 255  * Call the stack overflow hook function if the stack of the task being swapped\r
 256  * out is currently overflowed, or looks like it might have overflowed in the\r
 257  * past.\r
 258  *\r
 259  * Setting configCHECK_FOR_STACK_OVERFLOW to 1 will cause the macro to check\r
 260  * the current stack state only - comparing the current top of stack value to\r
 261  * the stack limit.  Setting configCHECK_FOR_STACK_OVERFLOW to greater than 1\r
 262  * will also cause the last few stack bytes to be checked to ensure the value\r
 263  * to which the bytes were set when the task was created have not been \r
 264  * overwritten.  Note this second test does not guarantee that an overflowed\r
 265  * stack will always be recognised.\r
 266  */\r
 267 \r
 268 #if( configCHECK_FOR_STACK_OVERFLOW == 0 )\r
 269 \r
 270         /* FreeRTOSConfig.h is not set to check for stack overflows. */\r
 271         #define taskCHECK_FOR_STACK_OVERFLOW()\r
 272 \r
 273 #endif /* configCHECK_FOR_STACK_OVERFLOW == 0 */\r
 274 \r
 275 #if( ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH >= 0 ) )\r
 276 \r
 277         /* This is an invalid setting. */\r
 278         #error configCHECK_FOR_STACK_OVERFLOW can only be set to a non zero value on architectures where the stack grows down from high memory.\r
 279 \r
 280 #endif /* ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH >= 0 ) */\r
 281 \r
 282 #if( configCHECK_FOR_STACK_OVERFLOW == 1 )\r
 283 \r
 284         /* Only the current stack state is to be checked. */\r
 285         #define taskCHECK_FOR_STACK_OVERFLOW()                                                                                                                          \\r
 286         {                                                                                                                                                                                                       \\r
 287         extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName );          \\r
 288                                                                                                                                                                                                                 \\r
 289                 /* Is the currently saved stack pointer within the stack limit? */                                                              \\r
 290                 if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack )                                                                               \\r
 291                 {                                                                                                                                                                                               \\r
 292                         vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName );        \\r
 293                 }                                                                                                                                                                                               \\r
 294         }\r
 295 \r
 296 #endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */\r
 297 \r
 298 #if( configCHECK_FOR_STACK_OVERFLOW > 1 )\r
 299 \r
 300         /* Both the current statck state and the stack fill bytes are to be checked. */\r
 301         #define taskCHECK_FOR_STACK_OVERFLOW()                                                                                                                                                                                                                  \\r
 302         {                                                                                                                                                                                                                                                                                               \\r
 303         extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName );                                                                                                  \\r
 304         static const unsigned portCHAR ucExpectedStackBytes[] = {       tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,         \\r
 305                                                                                                                                 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,         \\r
 306                                                                                                                                 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,         \\r
 307                                                                                                                                 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,         \\r
 308                                                                                                                                 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE };       \\r
 309                                                                                                                                                                                                                                                                                                         \\r
 310                 /* Is the currently saved stack pointer within the stack limit? */                                                                                                                                                      \\r
 311                 if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack )                                                                                                                                                                       \\r
 312                 {                                                                                                                                                                                                                                                                                       \\r
 313                         vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName );                                                                                                \\r
 314                 }                                                                                                                                                                                                                                                                                       \\r
 315                                                                                                                                                                                                                                                                                                         \\r
 316                 /* Has the extremity of the task stack ever been written over? */                                                                                                                                                       \\r
 317                 if( memcmp( ( void * ) pxCurrentTCB->pxStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 )                                          \\r
 318                 {                                                                                                                                                                                                                                                                                       \\r
 319                         vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName );                                                                                                \\r
 320                 }                                                                                                                                                                                                                                                                                       \\r
 321         }\r
 322 \r
 323 #endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */\r
 324 \r
 325 /*-----------------------------------------------------------*/\r
 326 \r
 327 /*\r
 328  * Several functions take an xTaskHandle parameter that can optionally be NULL,\r
 329  * where NULL is used to indicate that the handle of the currently executing\r
 330  * task should be used in place of the parameter.  This macro simply checks to\r
 331  * see if the parameter is NULL and returns a pointer to the appropriate TCB.\r
 332  */\r
 333 #define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )\r
 334 \r
 335 \r
 336 /* File private functions. --------------------------------*/\r
 337 \r
 338 /*\r
 339  * Utility to ready a TCB for a given task.  Mainly just copies the parameters\r
 340  * into the TCB structure.\r
 341  */\r
 342 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority );\r
 343 \r
 344 /*\r
 345  * Utility to ready all the lists used by the scheduler.  This is called\r
 346  * automatically upon the creation of the first task.\r
 347  */\r
 348 static void prvInitialiseTaskLists( void );\r
 349 \r
 350 /*\r
 351  * The idle task, which as all tasks is implemented as a never ending loop.\r
 352  * The idle task is automatically created and added to the ready lists upon\r
 353  * creation of the first user task.\r
 354  *\r
 355  * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific\r
 356  * language extensions.  The equivalent prototype for this function is:\r
 357  *\r
 358  * void prvIdleTask( void *pvParameters );\r
 359  *\r
 360  */\r
 361 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );\r
 362 \r
 363 /*\r
 364  * Utility to free all memory allocated by the scheduler to hold a TCB,\r
 365  * including the stack pointed to by the TCB.\r
 366  *\r
 367  * This does not free memory allocated by the task itself (i.e. memory\r
 368  * allocated by calls to pvPortMalloc from within the tasks application code).\r
 369  */\r
 370 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )\r
 371         static void prvDeleteTCB( tskTCB *pxTCB );\r
 372 #endif\r
 373 \r
 374 /*\r
 375  * Used only by the idle task.  This checks to see if anything has been placed\r
 376  * in the list of tasks waiting to be deleted.  If so the task is cleaned up\r
 377  * and its TCB deleted.\r
 378  */\r
 379 static void prvCheckTasksWaitingTermination( void );\r
 380 \r
 381 /*\r
 382  * Allocates memory from the heap for a TCB and associated stack.  Checks the\r
 383  * allocation was successful.\r
 384  */\r
 385 static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );\r
 386 \r
 387 /*\r
 388  * Called from vTaskList.  vListTasks details all the tasks currently under\r
 389  * control of the scheduler.  The tasks may be in one of a number of lists.\r
 390  * prvListTaskWithinSingleList accepts a list and details the tasks from\r
 391  * within just that list.\r
 392  *\r
 393  * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM\r
 394  * NORMAL APPLICATION CODE.\r
 395  */\r
 396 #if ( configUSE_TRACE_FACILITY == 1 )\r
 397 \r
 398         static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus );\r
 399 \r
 400 #endif\r
 401 \r
 402 /*\r
 403  * When a task is created, the stack of the task is filled with a known value.\r
 404  * This function determines the 'high water mark' of the task stack by\r
 405  * determining how much of the stack remains at the original preset value.\r
 406  */\r
 407 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )\r
 408 \r
 409         unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte );\r
 410 \r
 411 #endif\r
 412 \r
 413 \r
 414 /*lint +e956 */\r
 415 \r
 416 \r
 417 \r
 418 /*-----------------------------------------------------------\r
 419  * TASK CREATION API documented in task.h\r
 420  *----------------------------------------------------------*/\r
 421 \r
 422 signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask )\r
 423 {\r
 424 signed portBASE_TYPE xReturn;\r
 425 tskTCB * pxNewTCB;\r
 426 #if ( configUSE_TRACE_FACILITY == 1 )\r
 427         static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberate - this is guarded before use. */\r
 428 #endif\r
 429 \r
 430         /* Allocate the memory required by the TCB and stack for the new task.\r
 431         checking that the allocation was successful. */\r
 432         pxNewTCB = prvAllocateTCBAndStack( usStackDepth );\r
 433 \r
 434         if( pxNewTCB != NULL )\r
 435         {               \r
 436                 portSTACK_TYPE *pxTopOfStack;\r
 437 \r
 438                 /* Setup the newly allocated TCB with the initial state of the task. */\r
 439                 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority );\r
 440 \r
 441                 /* Calculate the top of stack address.  This depends on whether the\r
 442                 stack grows from high memory to low (as per the 80x86) or visa versa.\r
 443                 portSTACK_GROWTH is used to make the result positive or negative as\r
 444                 required by the port. */\r
 445                 #if portSTACK_GROWTH < 0\r
 446                 {\r
 447                         pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );\r
 448                 }\r
 449                 #else\r
 450                 {\r
 451                         pxTopOfStack = pxNewTCB->pxStack;       \r
 452                 }\r
 453                 #endif\r
 454 \r
 455                 /* Initialize the TCB stack to look as if the task was already running,\r
 456                 but had been interrupted by the scheduler.  The return address is set\r
 457                 to the start of the task function. Once the stack has been initialised\r
 458                 the     top of stack variable is updated. */\r
 459                 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pvTaskCode, pvParameters );\r
 460 \r
 461                 /* We are going to manipulate the task queues to add this task to a\r
 462                 ready list, so must make sure no interrupts occur. */\r
 463                 portENTER_CRITICAL();\r
 464                 {\r
 465                         uxCurrentNumberOfTasks++;\r
 466                         if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )\r
 467                         {\r
 468                                 /* As this is the first task it must also be the current task. */\r
 469                                 pxCurrentTCB =  pxNewTCB;\r
 470 \r
 471                                 /* This is the first task to be created so do the preliminary\r
 472                                 initialisation required.  We will not recover if this call\r
 473                                 fails, but we will report the failure. */\r
 474                                 prvInitialiseTaskLists();\r
 475                         }\r
 476                         else\r
 477                         {       \r
 478                                 /* If the scheduler is not already running, make this task the\r
 479                                 current task if it is the highest priority task to be created\r
 480                                 so far. */\r
 481                                 if( xSchedulerRunning == pdFALSE )\r
 482                                 {\r
 483                                         if( pxCurrentTCB->uxPriority <= uxPriority )\r
 484                                         {\r
 485                                                 pxCurrentTCB = pxNewTCB;        \r
 486                                         }\r
 487                                 }\r
 488                         }                               \r
 489 \r
 490                         /* Remember the top priority to make context switching faster.  Use\r
 491                         the priority in pxNewTCB as this has been capped to a valid value. */\r
 492                         if( pxNewTCB->uxPriority > uxTopUsedPriority )\r
 493                         {\r
 494                                 uxTopUsedPriority = pxNewTCB->uxPriority;\r
 495                         }\r
 496 \r
 497                         #if ( configUSE_TRACE_FACILITY == 1 )\r
 498                         {\r
 499                                 /* Add a counter into the TCB for tracing only. */\r
 500                                 pxNewTCB->uxTCBNumber = uxTaskNumber;\r
 501                                 uxTaskNumber++;\r
 502                         }\r
 503                         #endif\r
 504 \r
 505                         prvAddTaskToReadyQueue( pxNewTCB );\r
 506 \r
 507                         xReturn = pdPASS;\r
 508                         traceTASK_CREATE( pxNewTCB );\r
 509                 }\r
 510                 portEXIT_CRITICAL();\r
 511         }\r
 512         else\r
 513         {\r
 514                 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;\r
 515                 traceTASK_CREATE_FAILED( pxNewTCB );\r
 516         }\r
 517 \r
 518         if( xReturn == pdPASS )\r
 519         {\r
 520                 if( ( void * ) pxCreatedTask != NULL )\r
 521                 {\r
 522                         /* Pass the TCB out - in an anonymous way.  The calling function/\r
 523                         task can use this as a handle to delete the task later if\r
 524                         required.*/\r
 525                         *pxCreatedTask = ( xTaskHandle ) pxNewTCB;\r
 526                 }\r
 527 \r
 528                 if( xSchedulerRunning != pdFALSE )\r
 529                 {\r
 530                         /* If the created task is of a higher priority than the current task\r
 531                         then it should run now. */\r
 532                         if( pxCurrentTCB->uxPriority < uxPriority )\r
 533                         {\r
 534                                 taskYIELD();\r
 535                         }\r
 536                 }\r
 537         }\r
 538 \r
 539         return xReturn;\r
 540 }\r
 541 /*-----------------------------------------------------------*/\r
 542 \r
 543 #if ( INCLUDE_vTaskDelete == 1 )\r
 544 \r
 545         void vTaskDelete( xTaskHandle pxTaskToDelete )\r
 546         {\r
 547         tskTCB *pxTCB;\r
 548 \r
 549                 taskENTER_CRITICAL();\r
 550                 {\r
 551                         /* Ensure a yield is performed if the current task is being\r
 552                         deleted. */\r
 553                         if( pxTaskToDelete == pxCurrentTCB )\r
 554                         {\r
 555                                 pxTaskToDelete = NULL;\r
 556                         }\r
 557 \r
 558                         /* If null is passed in here then we are deleting ourselves. */\r
 559                         pxTCB = prvGetTCBFromHandle( pxTaskToDelete );\r
 560 \r
 561                         traceTASK_DELETE( pxTCB );\r
 562 \r
 563                         /* Remove task from the ready list and place in the     termination list.\r
 564                         This will stop the task from be scheduled.  The idle task will check\r
 565                         the termination list and free up any memory allocated by the\r
 566                         scheduler for the TCB and stack. */\r
 567                         vListRemove( &( pxTCB->xGenericListItem ) );\r
 568 \r
 569                         /* Is the task waiting on an event also? */                                                                                             \r
 570                         if( pxTCB->xEventListItem.pvContainer )\r
 571                         {\r
 572                                 vListRemove( &( pxTCB->xEventListItem ) );\r
 573                         }\r
 574 \r
 575                         vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );\r
 576 \r
 577                         /* Increment the ucTasksDeleted variable so the idle task knows\r
 578                         there is a task that has been deleted and that it should therefore\r
 579                         check the xTasksWaitingTermination list. */\r
 580                         ++uxTasksDeleted;\r
 581                 }\r
 582                 taskEXIT_CRITICAL();\r
 583 \r
 584                 /* Force a reschedule if we have just deleted the current task. */\r
 585                 if( xSchedulerRunning != pdFALSE )\r
 586                 {\r
 587                         if( ( void * ) pxTaskToDelete == NULL )\r
 588                         {\r
 589                                 taskYIELD();\r
 590                         }\r
 591                 }\r
 592         }\r
 593 \r
 594 #endif\r
 595 \r
 596 \r
 597 \r
 598 \r
 599 \r
 600 \r
 601 /*-----------------------------------------------------------\r
 602  * TASK CONTROL API documented in task.h\r
 603  *----------------------------------------------------------*/\r
 604 \r
 605 #if ( INCLUDE_vTaskDelayUntil == 1 )\r
 606 \r
 607         void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )\r
 608         {\r
 609         portTickType xTimeToWake;\r
 610         portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;\r
 611 \r
 612                 vTaskSuspendAll();\r
 613                 {\r
 614                         /* Generate the tick time at which the task wants to wake. */\r
 615                         xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;\r
 616 \r
 617                         if( xTickCount < *pxPreviousWakeTime )\r
 618                         {\r
 619                                 /* The tick count has overflowed since this function was\r
 620                                 lasted called.  In this case the only time we should ever\r
 621                                 actually delay is if the wake time has also     overflowed,\r
 622                                 and the wake time is greater than the tick time.  When this\r
 623                                 is the case it is as if neither time had overflowed. */\r
 624                                 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )\r
 625                                 {\r
 626                                         xShouldDelay = pdTRUE;\r
 627                                 }\r
 628                         }\r
 629                         else\r
 630                         {\r
 631                                 /* The tick time has not overflowed.  In this case we will\r
 632                                 delay if either the wake time has overflowed, and/or the\r
 633                                 tick time is less than the wake time. */\r
 634                                 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )\r
 635                                 {\r
 636                                         xShouldDelay = pdTRUE;\r
 637                                 }\r
 638                         }\r
 639 \r
 640                         /* Update the wake time ready for the next call. */\r
 641                         *pxPreviousWakeTime = xTimeToWake;\r
 642 \r
 643                         if( xShouldDelay )\r
 644                         {\r
 645                                 traceTASK_DELAY_UNTIL();\r
 646 \r
 647                                 /* We must remove ourselves from the ready list before adding\r
 648                                 ourselves to the blocked list as the same list item is used for\r
 649                                 both lists. */\r
 650                                 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
 651 \r
 652                                 /* The list item will be inserted in wake time order. */\r
 653                                 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );\r
 654 \r
 655                                 if( xTimeToWake < xTickCount )\r
 656                                 {\r
 657                                         /* Wake time has overflowed.  Place this item in the\r
 658                                         overflow list. */\r
 659                                         vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
 660                                 }\r
 661                                 else\r
 662                                 {\r
 663                                         /* The wake time has not overflowed, so we can use the\r
 664                                         current block list. */\r
 665                                         vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
 666                                 }\r
 667                         }\r
 668                 }\r
 669                 xAlreadyYielded = xTaskResumeAll();\r
 670 \r
 671                 /* Force a reschedule if xTaskResumeAll has not already done so, we may\r
 672                 have put ourselves to sleep. */\r
 673                 if( !xAlreadyYielded )\r
 674                 {\r
 675                         taskYIELD();\r
 676                 }\r
 677         }       \r
 678         \r
 679 #endif\r
 680 /*-----------------------------------------------------------*/\r
 681 \r
 682 #if ( INCLUDE_vTaskDelay == 1 )\r
 683 \r
 684         void vTaskDelay( portTickType xTicksToDelay )\r
 685         {\r
 686         portTickType xTimeToWake;\r
 687         signed portBASE_TYPE xAlreadyYielded = pdFALSE;\r
 688 \r
 689                 /* A delay time of zero just forces a reschedule. */\r
 690                 if( xTicksToDelay > ( portTickType ) 0 )\r
 691                 {\r
 692                         vTaskSuspendAll();\r
 693                         {\r
 694                                 traceTASK_DELAY();\r
 695 \r
 696                                 /* A task that is removed from the event list while the\r
 697                                 scheduler is suspended will not get placed in the ready\r
 698                                 list or removed from the blocked list until the scheduler\r
 699                                 is resumed.\r
 700                                 \r
 701                                 This task cannot be in an event list as it is the currently\r
 702                                 executing task. */\r
 703 \r
 704                                 /* Calculate the time to wake - this may overflow but this is\r
 705                                 not a problem. */\r
 706                                 xTimeToWake = xTickCount + xTicksToDelay;\r
 707 \r
 708                                 /* We must remove ourselves from the ready list before adding\r
 709                                 ourselves to the blocked list as the same list item is used for\r
 710                                 both lists. */\r
 711                                 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
 712 \r
 713                                 /* The list item will be inserted in wake time order. */\r
 714                                 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );\r
 715 \r
 716                                 if( xTimeToWake < xTickCount )\r
 717                                 {\r
 718                                         /* Wake time has overflowed.  Place this item in the\r
 719                                         overflow list. */\r
 720                                         vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
 721                                 }\r
 722                                 else\r
 723                                 {\r
 724                                         /* The wake time has not overflowed, so we can use the\r
 725                                         current block list. */\r
 726                                         vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
 727                                 }\r
 728                         }\r
 729                         xAlreadyYielded = xTaskResumeAll();\r
 730                 }\r
 731                 \r
 732                 /* Force a reschedule if xTaskResumeAll has not already done so, we may\r
 733                 have put ourselves to sleep. */\r
 734                 if( !xAlreadyYielded )\r
 735                 {\r
 736                         taskYIELD();\r
 737                 }\r
 738         }\r
 739         \r
 740 #endif\r
 741 /*-----------------------------------------------------------*/\r
 742 \r
 743 #if ( INCLUDE_uxTaskPriorityGet == 1 )\r
 744 \r
 745         unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )\r
 746         {\r
 747         tskTCB *pxTCB;\r
 748         unsigned portBASE_TYPE uxReturn;\r
 749 \r
 750                 taskENTER_CRITICAL();\r
 751                 {\r
 752                         /* If null is passed in here then we are changing the\r
 753                         priority of the calling function. */\r
 754                         pxTCB = prvGetTCBFromHandle( pxTask );\r
 755                         uxReturn = pxTCB->uxPriority;\r
 756                 }\r
 757                 taskEXIT_CRITICAL();\r
 758 \r
 759                 return uxReturn;\r
 760         }\r
 761 \r
 762 #endif\r
 763 /*-----------------------------------------------------------*/\r
 764 \r
 765 #if ( INCLUDE_vTaskPrioritySet == 1 )\r
 766 \r
 767         void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )\r
 768         {\r
 769         tskTCB *pxTCB;\r
 770         unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;\r
 771 \r
 772                 /* Ensure the new priority is valid. */\r
 773                 if( uxNewPriority >= configMAX_PRIORITIES )\r
 774                 {\r
 775                         uxNewPriority = configMAX_PRIORITIES - 1;\r
 776                 }\r
 777 \r
 778                 taskENTER_CRITICAL();\r
 779                 {\r
 780                         if( pxTask == pxCurrentTCB )\r
 781                         {\r
 782                                 pxTask = NULL;\r
 783                         }\r
 784 \r
 785                         /* If null is passed in here then we are changing the\r
 786                         priority of the calling function. */\r
 787                         pxTCB = prvGetTCBFromHandle( pxTask );\r
 788                         \r
 789                         traceTASK_PRIORITY_SET( pxTask, uxNewPriority );\r
 790 \r
 791                         #if ( configUSE_MUTEXES == 1 )\r
 792                         {\r
 793                                 uxCurrentPriority = pxTCB->uxBasePriority;\r
 794                         }\r
 795                         #else\r
 796                         {\r
 797                                 uxCurrentPriority = pxTCB->uxPriority;\r
 798                         }\r
 799                         #endif\r
 800 \r
 801                         if( uxCurrentPriority != uxNewPriority )\r
 802                         {\r
 803                                 /* The priority change may have readied a task of higher\r
 804                                 priority than the calling task. */\r
 805                                 if( uxNewPriority > uxCurrentPriority )\r
 806                                 {\r
 807                                         if( pxTask != NULL )\r
 808                                         {\r
 809                                                 /* The priority of another task is being raised.  If we\r
 810                                                 were raising the priority of the currently running task\r
 811                                                 there would be no need to switch as it must have already\r
 812                                                 been the highest priority task. */\r
 813                                                 xYieldRequired = pdTRUE;\r
 814                                         }\r
 815                                 }\r
 816                                 else if( pxTask == NULL )\r
 817                                 {\r
 818                                         /* Setting our own priority down means there may now be another\r
 819                                         task of higher priority that is ready to execute. */\r
 820                                         xYieldRequired = pdTRUE;\r
 821                                 }\r
 822                         \r
 823                                 \r
 824 \r
 825                                 #if ( configUSE_MUTEXES == 1 )\r
 826                                 {\r
 827                                         /* Only change the priority being used if the task is not\r
 828                                         currently using an inherited priority. */\r
 829                                         if( pxTCB->uxBasePriority == pxTCB->uxPriority )\r
 830                                         {\r
 831                                                 pxTCB->uxPriority = uxNewPriority;\r
 832                                         }\r
 833                                         \r
 834                                         /* The base priority gets set whatever. */\r
 835                                         pxTCB->uxBasePriority = uxNewPriority;                                  \r
 836                                 }\r
 837                                 #else\r
 838                                 {\r
 839                                         pxTCB->uxPriority = uxNewPriority;\r
 840                                 }\r
 841                                 #endif\r
 842 \r
 843                                 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );\r
 844 \r
 845                                 /* If the task is in the blocked or suspended list we need do\r
 846                                 nothing more than change it's priority variable. However, if\r
 847                                 the task is in a ready list it needs to be removed and placed\r
 848                                 in the queue appropriate to its new priority. */\r
 849                                 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )\r
 850                                 {\r
 851                                         /* The task is currently in its ready list - remove before adding\r
 852                                         it to it's new ready list.  As we are in a critical section we\r
 853                                         can do this even if the scheduler is suspended. */\r
 854                                         vListRemove( &( pxTCB->xGenericListItem ) );\r
 855                                         prvAddTaskToReadyQueue( pxTCB );\r
 856                                 }                       \r
 857                                 \r
 858                                 if( xYieldRequired == pdTRUE )\r
 859                                 {\r
 860                                         taskYIELD();\r
 861                                 }                               \r
 862                         }\r
 863                 }\r
 864                 taskEXIT_CRITICAL();\r
 865         }\r
 866 \r
 867 #endif\r
 868 /*-----------------------------------------------------------*/\r
 869 \r
 870 #if ( INCLUDE_vTaskSuspend == 1 )\r
 871 \r
 872         void vTaskSuspend( xTaskHandle pxTaskToSuspend )\r
 873         {\r
 874         tskTCB *pxTCB;\r
 875 \r
 876                 taskENTER_CRITICAL();\r
 877                 {\r
 878                         /* Ensure a yield is performed if the current task is being\r
 879                         suspended. */\r
 880                         if( pxTaskToSuspend == pxCurrentTCB )\r
 881                         {\r
 882                                 pxTaskToSuspend = NULL;\r
 883                         }\r
 884 \r
 885                         /* If null is passed in here then we are suspending ourselves. */\r
 886                         pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );\r
 887 \r
 888                         traceTASK_SUSPEND( pxTaskToSuspend );\r
 889 \r
 890                         /* Remove task from the ready/delayed list and place in the     suspended list. */\r
 891                         vListRemove( &( pxTCB->xGenericListItem ) );\r
 892 \r
 893                         /* Is the task waiting on an event also? */                                                                                             \r
 894                         if( pxTCB->xEventListItem.pvContainer )\r
 895                         {\r
 896                                 vListRemove( &( pxTCB->xEventListItem ) );\r
 897                         }\r
 898 \r
 899                         vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );\r
 900                 }\r
 901                 taskEXIT_CRITICAL();\r
 902 \r
 903                 /* We may have just suspended the current task. */\r
 904                 if( ( void * ) pxTaskToSuspend == NULL )\r
 905                 {\r
 906                         taskYIELD();\r
 907                 }\r
 908         }\r
 909 \r
 910 #endif\r
 911 /*-----------------------------------------------------------*/\r
 912 \r
 913 #if ( INCLUDE_vTaskSuspend == 1 )\r
 914 \r
 915         signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )\r
 916         {\r
 917         portBASE_TYPE xReturn = pdFALSE;\r
 918         const tskTCB * const pxTCB = ( tskTCB * ) xTask;\r
 919 \r
 920                 /* Is the task we are attempting to resume actually in the\r
 921                 suspended list? */\r
 922                 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )\r
 923                 {\r
 924                         /* Has the task already been resumed from within an ISR? */\r
 925                         if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )\r
 926                         {                       \r
 927                                 /* Is it in the suspended list because it is in the\r
 928                                 Suspended state?  It is possible to be in the suspended\r
 929                                 list because it is blocked on a task with no timeout\r
 930                                 specified. */\r
 931                                 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )\r
 932                                 {\r
 933                                         xReturn = pdTRUE;\r
 934                                 }\r
 935                         }\r
 936                 }\r
 937 \r
 938                 return xReturn;\r
 939         }\r
 940 \r
 941 #endif\r
 942 /*-----------------------------------------------------------*/\r
 943 \r
 944 #if ( INCLUDE_vTaskSuspend == 1 )\r
 945 \r
 946         void vTaskResume( xTaskHandle pxTaskToResume )\r
 947         {\r
 948         tskTCB *pxTCB;\r
 949 \r
 950                 /* Remove the task from whichever list it is currently in, and place\r
 951                 it in the ready list. */\r
 952                 pxTCB = ( tskTCB * ) pxTaskToResume;\r
 953 \r
 954                 /* The parameter cannot be NULL as it is impossible to resume the\r
 955                 currently executing task. */\r
 956                 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )\r
 957                 {\r
 958                         taskENTER_CRITICAL();\r
 959                         {\r
 960                                 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )\r
 961                                 {\r
 962                                         traceTASK_RESUME( pxTCB );\r
 963 \r
 964                                         /* As we are in a critical section we can access the ready\r
 965                                         lists even if the scheduler is suspended. */\r
 966                                         vListRemove(  &( pxTCB->xGenericListItem ) );\r
 967                                         prvAddTaskToReadyQueue( pxTCB );\r
 968 \r
 969                                         /* We may have just resumed a higher priority task. */\r
 970                                         if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
 971                                         {\r
 972                                                 /* This yield may not cause the task just resumed to run, but\r
 973                                                 will leave the lists in the correct state for the next yield. */\r
 974                                                 taskYIELD();\r
 975                                         }\r
 976                                 }\r
 977                         }\r
 978                         taskEXIT_CRITICAL();\r
 979                 }\r
 980         }\r
 981 \r
 982 #endif\r
 983 \r
 984 /*-----------------------------------------------------------*/\r
 985 \r
 986 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )\r
 987 \r
 988         portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )\r
 989         {\r
 990         portBASE_TYPE xYieldRequired = pdFALSE;\r
 991         tskTCB *pxTCB;\r
 992 \r
 993                 pxTCB = ( tskTCB * ) pxTaskToResume;\r
 994 \r
 995                 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )\r
 996                 {\r
 997                         traceTASK_RESUME_FROM_ISR( pxTCB );\r
 998 \r
 999                         if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
1000                         {\r
1001                                 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );\r
1002                                 vListRemove(  &( pxTCB->xGenericListItem ) );   \r
1003                                 prvAddTaskToReadyQueue( pxTCB );\r
1004                         }\r
1005                         else\r
1006                         {\r
1007                                 /* We cannot access the delayed or ready lists, so will hold this\r
1008                                 task pending until the scheduler is resumed, at which point a\r
1009                                 yield will be performed if necessary. */\r
1010                                 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );\r
1011                         }\r
1012                 }\r
1013 \r
1014                 return xYieldRequired;\r
1015         }\r
1016 \r
1017 #endif\r
1018 \r
1019 \r
1020 \r
1021 \r
1022 /*-----------------------------------------------------------\r
1023  * PUBLIC SCHEDULER CONTROL documented in task.h\r
1024  *----------------------------------------------------------*/\r
1025 \r
1026 \r
1027 void vTaskStartScheduler( void )\r
1028 {\r
1029 portBASE_TYPE xReturn;\r
1030 \r
1031         /* Add the idle task at the lowest priority. */\r
1032         xReturn = xTaskCreate( prvIdleTask, ( signed portCHAR * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );\r
1033 \r
1034         if( xReturn == pdPASS )\r
1035         {\r
1036                 /* Interrupts are turned off here, to ensure a tick does not occur\r
1037                 before or during the call to xPortStartScheduler().  The stacks of\r
1038                 the created tasks contain a status word with interrupts switched on\r
1039                 so interrupts will automatically get re-enabled when the first task\r
1040                 starts to run.\r
1041                 \r
1042                 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE\r
1043                 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */\r
1044                 portDISABLE_INTERRUPTS();\r
1045 \r
1046                 xSchedulerRunning = pdTRUE;\r
1047                 xTickCount = ( portTickType ) 0;\r
1048 \r
1049                 /* Setting up the timer tick is hardware specific and thus in the\r
1050                 portable interface. */\r
1051                 if( xPortStartScheduler() )\r
1052                 {\r
1053                         /* Should not reach here as if the scheduler is running the\r
1054                         function will not return. */\r
1055                 }\r
1056                 else\r
1057                 {\r
1058                         /* Should only reach here if a task calls xTaskEndScheduler(). */\r
1059                 }\r
1060         }\r
1061 }\r
1062 /*-----------------------------------------------------------*/\r
1063 \r
1064 void vTaskEndScheduler( void )\r
1065 {\r
1066         /* Stop the scheduler interrupts and call the portable scheduler end\r
1067         routine so the original ISRs can be restored if necessary.  The port\r
1068         layer must ensure interrupts enable     bit is left in the correct state. */\r
1069         portDISABLE_INTERRUPTS();\r
1070         xSchedulerRunning = pdFALSE;\r
1071         vPortEndScheduler();\r
1072 }\r
1073 /*----------------------------------------------------------*/\r
1074 \r
1075 void vTaskSuspendAll( void )\r
1076 {\r
1077         portENTER_CRITICAL();\r
1078                 ++uxSchedulerSuspended;\r
1079         portEXIT_CRITICAL();\r
1080 }\r
1081 /*----------------------------------------------------------*/\r
1082 \r
1083 signed portBASE_TYPE xTaskResumeAll( void )\r
1084 {\r
1085 register tskTCB *pxTCB;\r
1086 signed portBASE_TYPE xAlreadyYielded = pdFALSE;\r
1087 \r
1088         /* It is possible that an ISR caused a task to be removed from an event\r
1089         list while the scheduler was suspended.  If this was the case then the\r
1090         removed task will have been added to the xPendingReadyList.  Once the\r
1091         scheduler has been resumed it is safe to move all the pending ready\r
1092         tasks from this list into their appropriate ready list. */\r
1093         portENTER_CRITICAL();\r
1094         {\r
1095                 --uxSchedulerSuspended;\r
1096 \r
1097                 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
1098                 {                       \r
1099                         if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )\r
1100                         {\r
1101                                 portBASE_TYPE xYieldRequired = pdFALSE;\r
1102                                 \r
1103                                 /* Move any readied tasks from the pending list into the\r
1104                                 appropriate ready list. */\r
1105                                 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY(  ( ( xList * ) &xPendingReadyList ) ) ) != NULL )\r
1106                                 {\r
1107                                         vListRemove( &( pxTCB->xEventListItem ) );\r
1108                                         vListRemove( &( pxTCB->xGenericListItem ) );\r
1109                                         prvAddTaskToReadyQueue( pxTCB );\r
1110                                         \r
1111                                         /* If we have moved a task that has a priority higher than\r
1112                                         the current task then we should yield. */\r
1113                                         if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
1114                                         {\r
1115                                                 xYieldRequired = pdTRUE;\r
1116                                         }\r
1117                                 }\r
1118 \r
1119                                 /* If any ticks occurred while the scheduler was suspended then\r
1120                                 they should be processed now.  This ensures the tick count does not\r
1121                                 slip, and that any delayed tasks are resumed at the correct time. */\r
1122                                 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )\r
1123                                 {\r
1124                                         while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )\r
1125                                         {\r
1126                                                 vTaskIncrementTick();\r
1127                                                 --uxMissedTicks;\r
1128                                         }\r
1129 \r
1130                                         /* As we have processed some ticks it is appropriate to yield\r
1131                                         to ensure the highest priority task that is ready to run is\r
1132                                         the task actually running. */\r
1133                                         #if configUSE_PREEMPTION == 1\r
1134                                         {\r
1135                                                 xYieldRequired = pdTRUE;\r
1136                                         }\r
1137                                         #endif\r
1138                                 }\r
1139                                 \r
1140                                 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )\r
1141                                 {\r
1142                                         xAlreadyYielded = pdTRUE;\r
1143                                         xMissedYield = pdFALSE;\r
1144                                         taskYIELD();\r
1145                                 }\r
1146                         }\r
1147                 }\r
1148         }\r
1149         portEXIT_CRITICAL();\r
1150 \r
1151         return xAlreadyYielded;\r
1152 }\r
1153 \r
1154 \r
1155 \r
1156 \r
1157 \r
1158 \r
1159 /*-----------------------------------------------------------\r
1160  * PUBLIC TASK UTILITIES documented in task.h\r
1161  *----------------------------------------------------------*/\r
1162 \r
1163 \r
1164 \r
1165 portTickType xTaskGetTickCount( void )\r
1166 {\r
1167 portTickType xTicks;\r
1168 \r
1169         /* Critical section required if running on a 16 bit processor. */\r
1170         taskENTER_CRITICAL();\r
1171         {\r
1172                 xTicks = xTickCount;\r
1173         }\r
1174         taskEXIT_CRITICAL();\r
1175 \r
1176         return xTicks;\r
1177 }\r
1178 /*-----------------------------------------------------------*/\r
1179 \r
1180 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )\r
1181 {\r
1182 unsigned portBASE_TYPE uxNumberOfTasks;\r
1183 \r
1184         taskENTER_CRITICAL();\r
1185                 uxNumberOfTasks = uxCurrentNumberOfTasks;\r
1186         taskEXIT_CRITICAL();\r
1187 \r
1188         return uxNumberOfTasks;\r
1189 }\r
1190 /*-----------------------------------------------------------*/\r
1191 \r
1192 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_vTaskDelete == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )\r
1193 \r
1194         void vTaskList( signed portCHAR *pcWriteBuffer )\r
1195         {\r
1196         unsigned portBASE_TYPE uxQueue;\r
1197 \r
1198                 /* This is a VERY costly function that should be used for debug only.\r
1199                 It leaves interrupts disabled for a LONG time. */\r
1200 \r
1201         vTaskSuspendAll();\r
1202                 {\r
1203                         /* Run through all the lists that could potentially contain a TCB and\r
1204                         report the task name, state and stack high water mark. */\r
1205 \r
1206                         pcWriteBuffer[ 0 ] = ( signed portCHAR ) 0x00;\r
1207                         strcat( ( portCHAR * ) pcWriteBuffer, ( const portCHAR * ) "\r\n" );\r
1208 \r
1209                         uxQueue = uxTopUsedPriority + 1;\r
1210 \r
1211                         do\r
1212                         {\r
1213                                 uxQueue--;\r
1214 \r
1215                                 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )\r
1216                                 {\r
1217                                         prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );                     \r
1218                                 }\r
1219                         }while( uxQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );\r
1220 \r
1221                         if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )\r
1222                         {\r
1223                                 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );\r
1224                         }\r
1225 \r
1226                         if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )\r
1227                         {\r
1228                                 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );\r
1229                         }\r
1230 \r
1231                         if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )\r
1232                         {\r
1233                                 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );\r
1234                         }\r
1235 \r
1236                         if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )\r
1237                         {\r
1238                                 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );\r
1239                         }\r
1240                 }\r
1241         xTaskResumeAll();\r
1242         }\r
1243 \r
1244 #endif\r
1245 /*----------------------------------------------------------*/\r
1246 \r
1247 #if ( configUSE_TRACE_FACILITY == 1 )\r
1248 \r
1249         void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize )\r
1250         {\r
1251                 portENTER_CRITICAL();\r
1252                 {\r
1253                         pcTraceBuffer = ( signed portCHAR * )pcBuffer;\r
1254                         pcTraceBufferStart = pcBuffer;\r
1255                         pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );\r
1256                         xTracing = pdTRUE;\r
1257                 }\r
1258                 portEXIT_CRITICAL();\r
1259         }\r
1260 \r
1261 #endif\r
1262 /*----------------------------------------------------------*/\r
1263 \r
1264 #if ( configUSE_TRACE_FACILITY == 1 )\r
1265 \r
1266         unsigned portLONG ulTaskEndTrace( void )\r
1267         {\r
1268         unsigned portLONG ulBufferLength;\r
1269 \r
1270                 portENTER_CRITICAL();\r
1271                         xTracing = pdFALSE;\r
1272                 portEXIT_CRITICAL();\r
1273 \r
1274                 ulBufferLength = ( unsigned portLONG ) ( pcTraceBuffer - pcTraceBufferStart );\r
1275 \r
1276                 return ulBufferLength;\r
1277         }\r
1278 \r
1279 #endif\r
1280 \r
1281 \r
1282 \r
1283 /*-----------------------------------------------------------\r
1284  * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES\r
1285  * documented in task.h\r
1286  *----------------------------------------------------------*/\r
1287 \r
1288 \r
1289 void vTaskIncrementTick( void )\r
1290 {\r
1291         /* Called by the portable layer each time a tick interrupt occurs.\r
1292         Increments the tick then checks to see if the new tick value will cause any\r
1293         tasks to be unblocked. */\r
1294         if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
1295         {\r
1296                 ++xTickCount;\r
1297                 if( xTickCount == ( portTickType ) 0 )\r
1298                 {\r
1299                         xList *pxTemp;\r
1300 \r
1301                         /* Tick count has overflowed so we need to swap the delay lists.\r
1302                         If there are any items in pxDelayedTaskList here then there is\r
1303                         an error! */\r
1304                         pxTemp = pxDelayedTaskList;\r
1305                         pxDelayedTaskList = pxOverflowDelayedTaskList;\r
1306                         pxOverflowDelayedTaskList = pxTemp;\r
1307             xNumOfOverflows++;\r
1308                 }\r
1309 \r
1310                 /* See if this tick has made a timeout expire. */\r
1311                 prvCheckDelayedTasks();\r
1312         }\r
1313         else\r
1314         {\r
1315                 ++uxMissedTicks;\r
1316 \r
1317                 /* The tick hook gets called at regular intervals, even if the\r
1318                 scheduler is locked. */\r
1319                 #if ( configUSE_TICK_HOOK == 1 )\r
1320                 {\r
1321                         extern void vApplicationTickHook( void );\r
1322 \r
1323                         vApplicationTickHook();\r
1324                 }\r
1325                 #endif\r
1326         }\r
1327 \r
1328         #if ( configUSE_TICK_HOOK == 1 )\r
1329         {\r
1330                 extern void vApplicationTickHook( void );\r
1331 \r
1332                 /* Guard against the tick hook being called when the missed tick\r
1333                 count is being unwound (when the scheduler is being unlocked. */\r
1334                 if( uxMissedTicks == 0 )\r
1335                 {\r
1336                         vApplicationTickHook();\r
1337                 }\r
1338         }\r
1339         #endif\r
1340 \r
1341         traceTASK_INCREMENT_TICK( xTickCount );\r
1342 }\r
1343 /*-----------------------------------------------------------*/\r
1344 \r
1345 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )\r
1346 \r
1347         void vTaskCleanUpResources( void )\r
1348         {\r
1349         unsigned portSHORT usQueue;\r
1350         volatile tskTCB *pxTCB;\r
1351 \r
1352                 usQueue = ( unsigned portSHORT ) uxTopUsedPriority + ( unsigned portSHORT ) 1;\r
1353 \r
1354                 /* Remove any TCB's from the ready queues. */\r
1355                 do\r
1356                 {\r
1357                         usQueue--;\r
1358 \r
1359                         while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )\r
1360                         {\r
1361                                 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );\r
1362                                 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );\r
1363 \r
1364                                 prvDeleteTCB( ( tskTCB * ) pxTCB );\r
1365                         }\r
1366                 }while( usQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );\r
1367 \r
1368                 /* Remove any TCB's from the delayed queue. */\r
1369                 while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )\r
1370                 {\r
1371                         listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );\r
1372                         vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );\r
1373 \r
1374                         prvDeleteTCB( ( tskTCB * ) pxTCB );\r
1375                 }\r
1376 \r
1377                 /* Remove any TCB's from the overflow delayed queue. */\r
1378                 while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )\r
1379                 {\r
1380                         listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );\r
1381                         vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );\r
1382 \r
1383                         prvDeleteTCB( ( tskTCB * ) pxTCB );\r
1384                 }\r
1385 \r
1386                 while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )\r
1387                 {\r
1388                         listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );\r
1389                         vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );\r
1390 \r
1391                         prvDeleteTCB( ( tskTCB * ) pxTCB );\r
1392                 }               \r
1393         }\r
1394 \r
1395 #endif\r
1396 /*-----------------------------------------------------------*/\r
1397 \r
1398 #if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
1399 \r
1400         void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue )\r
1401         {\r
1402         tskTCB *xTCB;\r
1403 \r
1404                 /* If xTask is NULL then we are setting our own task hook. */\r
1405                 if( xTask == NULL )\r
1406                 {\r
1407                         xTCB = ( tskTCB * ) pxCurrentTCB;\r
1408                 }\r
1409                 else\r
1410                 {\r
1411                         xTCB = ( tskTCB * ) xTask;\r
1412                 }\r
1413                 \r
1414                 /* Save the hook function in the TCB. */\r
1415                 portENTER_CRITICAL();\r
1416                         xTCB->pxTaskTag = pxTagValue;\r
1417                 portEXIT_CRITICAL();\r
1418         }\r
1419         \r
1420 #endif\r
1421 /*-----------------------------------------------------------*/\r
1422 \r
1423 #if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
1424 \r
1425         portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )\r
1426         {\r
1427         tskTCB *xTCB;\r
1428         portBASE_TYPE xReturn;\r
1429 \r
1430                 /* If xTask is NULL then we are calling our own task hook. */\r
1431                 if( xTask == NULL )\r
1432                 {\r
1433                         xTCB = ( tskTCB * ) pxCurrentTCB;\r
1434                 }\r
1435                 else\r
1436                 {\r
1437                         xTCB = ( tskTCB * ) xTask;\r
1438                 }\r
1439 \r
1440                 if( xTCB->pxTaskTag != NULL )\r
1441                 {\r
1442                         xReturn = xTCB->pxTaskTag( pvParameter );\r
1443                 }\r
1444                 else\r
1445                 {\r
1446                         xReturn = pdFAIL;\r
1447                 }\r
1448 \r
1449                 return xReturn;\r
1450         }\r
1451         \r
1452 #endif\r
1453 /*-----------------------------------------------------------*/\r
1454 \r
1455 void vTaskSwitchContext( void )\r
1456 {\r
1457         traceTASK_SWITCHED_OUT();\r
1458 \r
1459         if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )\r
1460         {\r
1461                 /* The scheduler is currently suspended - do not allow a context\r
1462                 switch. */\r
1463                 xMissedYield = pdTRUE;\r
1464                 return;\r
1465         }\r
1466 \r
1467         taskCHECK_FOR_STACK_OVERFLOW();\r
1468 \r
1469         /* Find the highest priority queue that contains ready tasks. */\r
1470         while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )\r
1471         {\r
1472                 --uxTopReadyPriority;\r
1473         }\r
1474 \r
1475         /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the\r
1476         same priority get an equal share of the processor time. */\r
1477         listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );\r
1478 \r
1479         traceTASK_SWITCHED_IN();\r
1480         vWriteTraceToBuffer();\r
1481 }\r
1482 /*-----------------------------------------------------------*/\r
1483 \r
1484 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )\r
1485 {\r
1486 portTickType xTimeToWake;\r
1487 \r
1488         /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE\r
1489         SCHEDULER SUSPENDED. */\r
1490 \r
1491         /* Place the event list item of the TCB in the appropriate event list.\r
1492         This is placed in the list in priority order so the highest priority task\r
1493         is the first to be woken by the event. */\r
1494         vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );\r
1495 \r
1496         /* We must remove ourselves from the ready list before adding ourselves\r
1497         to the blocked list as the same list item is used for both lists.  We have\r
1498         exclusive access to the ready lists as the scheduler is locked. */\r
1499         vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
1500 \r
1501 \r
1502         #if ( INCLUDE_vTaskSuspend == 1 )\r
1503         {                       \r
1504                 if( xTicksToWait == portMAX_DELAY )\r
1505                 {\r
1506                         /* Add ourselves to the suspended task list instead of a delayed task\r
1507                         list to ensure we are not woken by a timing event.  We will block\r
1508                         indefinitely. */\r
1509                         vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
1510                 }\r
1511                 else\r
1512                 {\r
1513                         /* Calculate the time at which the task should be woken if the event does\r
1514                         not occur.  This may overflow but this doesn't matter. */\r
1515                         xTimeToWake = xTickCount + xTicksToWait;\r
1516                 \r
1517                         listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );\r
1518                 \r
1519                         if( xTimeToWake < xTickCount )\r
1520                         {\r
1521                                 /* Wake time has overflowed.  Place this item in the overflow list. */\r
1522                                 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
1523                         }\r
1524                         else\r
1525                         {\r
1526                                 /* The wake time has not overflowed, so we can use the current block list. */\r
1527                                 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
1528                         }\r
1529                 }\r
1530         }\r
1531         #else\r
1532         {\r
1533                         /* Calculate the time at which the task should be woken if the event does\r
1534                         not occur.  This may overflow but this doesn't matter. */\r
1535                         xTimeToWake = xTickCount + xTicksToWait;\r
1536                 \r
1537                         listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );\r
1538                 \r
1539                         if( xTimeToWake < xTickCount )\r
1540                         {\r
1541                                 /* Wake time has overflowed.  Place this item in the overflow list. */\r
1542                                 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
1543                         }\r
1544                         else\r
1545                         {\r
1546                                 /* The wake time has not overflowed, so we can use the current block list. */\r
1547                                 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
1548                         }\r
1549         }\r
1550         #endif\r
1551 }\r
1552 /*-----------------------------------------------------------*/\r
1553 \r
1554 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )\r
1555 {\r
1556 tskTCB *pxUnblockedTCB;\r
1557 portBASE_TYPE xReturn;\r
1558 \r
1559         /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE\r
1560         SCHEDULER SUSPENDED.  It can also be called from within an ISR. */\r
1561 \r
1562         /* The event list is sorted in priority order, so we can remove the\r
1563         first in the list, remove the TCB from the delayed list, and add\r
1564         it to the ready list.\r
1565         \r
1566         If an event is for a queue that is locked then this function will never\r
1567         get called - the lock count on the queue will get modified instead.  This\r
1568         means we can always expect exclusive access to the event list here. */\r
1569         pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );\r
1570         vListRemove( &( pxUnblockedTCB->xEventListItem ) );\r
1571 \r
1572         if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
1573         {\r
1574                 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );\r
1575                 prvAddTaskToReadyQueue( pxUnblockedTCB );\r
1576         }\r
1577         else\r
1578         {\r
1579                 /* We cannot access the delayed or ready lists, so will hold this\r
1580                 task pending until the scheduler is resumed. */\r
1581                 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );\r
1582         }\r
1583 \r
1584         if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
1585         {\r
1586                 /* Return true if the task removed from the event list has\r
1587                 a higher priority than the calling task.  This allows\r
1588                 the calling task to know if it should force a context\r
1589                 switch now. */\r
1590                 xReturn = pdTRUE;\r
1591         }\r
1592         else\r
1593         {\r
1594                 xReturn = pdFALSE;\r
1595         }\r
1596 \r
1597         return xReturn;\r
1598 }\r
1599 /*-----------------------------------------------------------*/\r
1600 \r
1601 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )\r
1602 {\r
1603     pxTimeOut->xOverflowCount = xNumOfOverflows;\r
1604     pxTimeOut->xTimeOnEntering = xTickCount;\r
1605 }\r
1606 /*-----------------------------------------------------------*/\r
1607 \r
1608 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )\r
1609 {\r
1610 portBASE_TYPE xReturn;\r
1611 \r
1612         portENTER_CRITICAL();\r
1613         {\r
1614                 #if ( INCLUDE_vTaskSuspend == 1 )\r
1615                         /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is\r
1616                         the maximum block time then the task should block indefinitely, and\r
1617                         therefore never time out. */\r
1618                         if( *pxTicksToWait == portMAX_DELAY )\r
1619                         {\r
1620                                 xReturn = pdFALSE;\r
1621                         }\r
1622                         else /* We are not blocking indefinitely, perform the checks below. */\r
1623                 #endif\r
1624 \r
1625                 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xTickCount >= pxTimeOut->xTimeOnEntering ) )\r
1626                 {\r
1627                         /* The tick count is greater than the time at which vTaskSetTimeout()\r
1628                         was called, but has also overflowed since vTaskSetTimeOut() was called.\r
1629                         It must have wrapped all the way around and gone past us again. This\r
1630                         passed since vTaskSetTimeout() was called. */\r
1631                         xReturn = pdTRUE;\r
1632                 }\r
1633                 else if( ( xTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )\r
1634                 {\r
1635                         /* Not a genuine timeout. Adjust parameters for time remaining. */\r
1636                         *pxTicksToWait -= ( xTickCount - pxTimeOut->xTimeOnEntering );\r
1637                         vTaskSetTimeOutState( pxTimeOut );\r
1638                         xReturn = pdFALSE;\r
1639                 }\r
1640                 else\r
1641                 {\r
1642                         xReturn = pdTRUE;\r
1643                 }\r
1644         }\r
1645         portEXIT_CRITICAL();\r
1646 \r
1647     return xReturn;\r
1648 }\r
1649 /*-----------------------------------------------------------*/\r
1650 \r
1651 void vTaskMissedYield( void )\r
1652 {\r
1653         xMissedYield = pdTRUE;\r
1654 }\r
1655 \r
1656 /*\r
1657  * -----------------------------------------------------------\r
1658  * The Idle task.\r
1659  * ----------------------------------------------------------\r
1660  *\r
1661  * The portTASK_FUNCTION() macro is used to allow port/compiler specific\r
1662  * language extensions.  The equivalent prototype for this function is:\r
1663  *\r
1664  * void prvIdleTask( void *pvParameters );\r
1665  *\r
1666  */\r
1667 static portTASK_FUNCTION( prvIdleTask, pvParameters )\r
1668 {\r
1669         /* Stop warnings. */\r
1670         ( void ) pvParameters;\r
1671 \r
1672         for( ;; )\r
1673         {\r
1674                 /* See if any tasks have been deleted. */\r
1675                 prvCheckTasksWaitingTermination();\r
1676 \r
1677                 #if ( configUSE_PREEMPTION == 0 )\r
1678                 {\r
1679                         /* If we are not using preemption we keep forcing a task switch to\r
1680                         see if any other task has become available.  If we are using\r
1681                         preemption we don't need to do this as any task becoming available\r
1682                         will automatically get the processor anyway. */\r
1683                         taskYIELD();    \r
1684                 }\r
1685                 #endif\r
1686 \r
1687                 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )\r
1688                 {\r
1689                         /* When using preemption tasks of equal priority will be\r
1690                         timesliced.  If a task that is sharing the idle priority is ready\r
1691                         to run then the idle task should yield before the end of the\r
1692                         timeslice.\r
1693                         \r
1694                         A critical region is not required here as we are just reading from\r
1695                         the list, and an occasional incorrect value will not matter.  If\r
1696                         the ready list at the idle priority contains more than one task\r
1697                         then a task other than the idle task is ready to execute. */\r
1698                         if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )\r
1699                         {\r
1700                                 taskYIELD();\r
1701                         }\r
1702                 }\r
1703                 #endif\r
1704 \r
1705                 #if ( configUSE_IDLE_HOOK == 1 )\r
1706                 {\r
1707                         extern void vApplicationIdleHook( void );\r
1708 \r
1709                         /* Call the user defined function from within the idle task.  This\r
1710                         allows the application designer to add background functionality\r
1711                         without the overhead of a separate task.\r
1712                         NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,\r
1713                         CALL A FUNCTION THAT MIGHT BLOCK. */\r
1714                         vApplicationIdleHook();\r
1715                 }\r
1716                 #endif\r
1717         }\r
1718 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */\r
1719 \r
1720 \r
1721 \r
1722 \r
1723 \r
1724 \r
1725 \r
1726 /*-----------------------------------------------------------\r
1727  * File private functions documented at the top of the file.\r
1728  *----------------------------------------------------------*/\r
1729 \r
1730 \r
1731 \r
1732 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority )\r
1733 {\r
1734         /* Store the function name in the TCB. */\r
1735         strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned portSHORT ) configMAX_TASK_NAME_LEN );\r
1736         pxTCB->pcTaskName[ ( unsigned portSHORT ) configMAX_TASK_NAME_LEN - ( unsigned portSHORT ) 1 ] = '\0';\r
1737 \r
1738         /* This is used as an array index so must ensure it's not too large. */\r
1739         if( uxPriority >= configMAX_PRIORITIES )\r
1740         {\r
1741                 uxPriority = configMAX_PRIORITIES - 1;\r
1742         }\r
1743 \r
1744         pxTCB->uxPriority = uxPriority;\r
1745         #if ( configUSE_MUTEXES == 1 )\r
1746         {\r
1747                 pxTCB->uxBasePriority = uxPriority;\r
1748         }\r
1749         #endif\r
1750 \r
1751         vListInitialiseItem( &( pxTCB->xGenericListItem ) );\r
1752         vListInitialiseItem( &( pxTCB->xEventListItem ) );\r
1753 \r
1754         /* Set the pxTCB as a link back from the xListItem.  This is so we can get\r
1755         back to the containing TCB from a generic item in a list. */\r
1756         listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );\r
1757 \r
1758         /* Event lists are always in priority order. */\r
1759         listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );\r
1760         listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );\r
1761 \r
1762         #if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
1763         {\r
1764                 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;\r
1765         }\r
1766         #endif\r
1767 \r
1768         #if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
1769         {\r
1770                 pxTCB->pxTaskTag = NULL;\r
1771         }\r
1772         #endif  \r
1773 }\r
1774 /*-----------------------------------------------------------*/\r
1775 \r
1776 static void prvInitialiseTaskLists( void )\r
1777 {\r
1778 unsigned portBASE_TYPE uxPriority;\r
1779 \r
1780         for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )\r
1781         {\r
1782                 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );\r
1783         }\r
1784 \r
1785         vListInitialise( ( xList * ) &xDelayedTaskList1 );\r
1786         vListInitialise( ( xList * ) &xDelayedTaskList2 );\r
1787         vListInitialise( ( xList * ) &xPendingReadyList );\r
1788 \r
1789         #if ( INCLUDE_vTaskDelete == 1 )\r
1790         {\r
1791                 vListInitialise( ( xList * ) &xTasksWaitingTermination );\r
1792         }\r
1793         #endif\r
1794 \r
1795         #if ( INCLUDE_vTaskSuspend == 1 )\r
1796         {\r
1797                 vListInitialise( ( xList * ) &xSuspendedTaskList );\r
1798         }\r
1799         #endif\r
1800 \r
1801         /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList\r
1802         using list2. */\r
1803         pxDelayedTaskList = &xDelayedTaskList1;\r
1804         pxOverflowDelayedTaskList = &xDelayedTaskList2;\r
1805 }\r
1806 /*-----------------------------------------------------------*/\r
1807 \r
1808 static void prvCheckTasksWaitingTermination( void )\r
1809 {                                                       \r
1810         #if ( INCLUDE_vTaskDelete == 1 )\r
1811         {                               \r
1812                 portBASE_TYPE xListIsEmpty;\r
1813 \r
1814                 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called\r
1815                 too often in the idle task. */\r
1816                 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )\r
1817                 {\r
1818                         vTaskSuspendAll();\r
1819                                 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );                          \r
1820                         xTaskResumeAll();\r
1821 \r
1822                         if( !xListIsEmpty )\r
1823                         {\r
1824                                 tskTCB *pxTCB;\r
1825 \r
1826                                 portENTER_CRITICAL();\r
1827                                 {                       \r
1828                                         pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );\r
1829                                         vListRemove( &( pxTCB->xGenericListItem ) );\r
1830                                         --uxCurrentNumberOfTasks;\r
1831                                         --uxTasksDeleted;\r
1832                                 }\r
1833                                 portEXIT_CRITICAL();\r
1834 \r
1835                                 prvDeleteTCB( pxTCB );\r
1836                         }\r
1837                 }\r
1838         }\r
1839         #endif\r
1840 }\r
1841 /*-----------------------------------------------------------*/\r
1842 \r
1843 static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth )\r
1844 {\r
1845 tskTCB *pxNewTCB;\r
1846 \r
1847         /* Allocate space for the TCB.  Where the memory comes from depends on\r
1848         the implementation of the port malloc function. */\r
1849         pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );\r
1850 \r
1851         if( pxNewTCB != NULL )\r
1852         {\r
1853                 /* Allocate space for the stack used by the task being created.\r
1854                 The base of the stack memory stored in the TCB so the task can\r
1855                 be deleted later if required. */\r
1856                 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMalloc( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) );\r
1857 \r
1858                 if( pxNewTCB->pxStack == NULL )\r
1859                 {\r
1860                         /* Could not allocate the stack.  Delete the allocated TCB. */\r
1861                         vPortFree( pxNewTCB );                  \r
1862                         pxNewTCB = NULL;                        \r
1863                 }               \r
1864                 else\r
1865                 {\r
1866                         /* Just to help debugging. */\r
1867                         memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );\r
1868                 }\r
1869         }\r
1870 \r
1871         return pxNewTCB;\r
1872 }\r
1873 /*-----------------------------------------------------------*/\r
1874 \r
1875 #if ( configUSE_TRACE_FACILITY == 1 )\r
1876 \r
1877         static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus )\r
1878         {\r
1879         volatile tskTCB *pxNextTCB, *pxFirstTCB;\r
1880         static portCHAR pcStatusString[ 50 ];\r
1881         unsigned portSHORT usStackRemaining;\r
1882 \r
1883                 /* Write the details of all the TCB's in pxList into the buffer. */\r
1884                 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );\r
1885                 do\r
1886                 {\r
1887                         listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );\r
1888                         usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned portCHAR * ) pxNextTCB->pxStack );\r
1889                         sprintf( pcStatusString, ( portCHAR * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );\r
1890                         strcat( ( portCHAR * ) pcWriteBuffer, ( portCHAR * ) pcStatusString );\r
1891 \r
1892                 } while( pxNextTCB != pxFirstTCB );\r
1893         }\r
1894 \r
1895 #endif\r
1896 /*-----------------------------------------------------------*/\r
1897 \r
1898 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )\r
1899 \r
1900         unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte )\r
1901         {\r
1902         register unsigned portSHORT usCount = 0;\r
1903 \r
1904                 while( *pucStackByte == tskSTACK_FILL_BYTE )\r
1905                 {\r
1906                         pucStackByte -= portSTACK_GROWTH;\r
1907                         usCount++;\r
1908                 }\r
1909 \r
1910                 usCount /= sizeof( portSTACK_TYPE );\r
1911 \r
1912                 return usCount;\r
1913         }\r
1914 \r
1915 #endif\r
1916 /*-----------------------------------------------------------*/\r
1917 \r
1918 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )\r
1919 \r
1920         unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )\r
1921         {\r
1922         tskTCB *pxTCB;\r
1923 \r
1924                 pxTCB = prvGetTCBFromHandle( xTask );\r
1925                 return usTaskCheckFreeStackSpace( ( unsigned portCHAR * ) pxTCB->pxStack );\r
1926         }\r
1927 \r
1928 #endif\r
1929 /*-----------------------------------------------------------*/\r
1930 \r
1931 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )\r
1932 \r
1933         static void prvDeleteTCB( tskTCB *pxTCB )\r
1934         {\r
1935                 /* Free up the memory allocated by the scheduler for the task.  It is up to\r
1936                 the task to free any memory allocated at the application level. */\r
1937                 vPortFree( pxTCB->pxStack );\r
1938                 vPortFree( pxTCB );\r
1939         }\r
1940 \r
1941 #endif\r
1942 \r
1943 \r
1944 /*-----------------------------------------------------------*/\r
1945 \r
1946 #if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )\r
1947 \r
1948         xTaskHandle xTaskGetCurrentTaskHandle( void )\r
1949         {\r
1950         xTaskHandle xReturn;\r
1951 \r
1952                 portENTER_CRITICAL();\r
1953                 {\r
1954                         xReturn = ( xTaskHandle ) pxCurrentTCB;\r
1955                 }\r
1956                 portEXIT_CRITICAL();\r
1957 \r
1958                 return xReturn;\r
1959         }\r
1960 \r
1961 #endif\r
1962 \r
1963 /*-----------------------------------------------------------*/\r
1964 \r
1965 #if ( INCLUDE_xTaskGetSchedulerState == 1 )\r
1966 \r
1967         portBASE_TYPE xTaskGetSchedulerState( void )\r
1968         {\r
1969         portBASE_TYPE xReturn;\r
1970         \r
1971                 if( xSchedulerRunning == pdFALSE )\r
1972                 {\r
1973                         xReturn = taskSCHEDULER_NOT_STARTED;\r
1974                 }\r
1975                 else\r
1976                 {\r
1977                         if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
1978                         {\r
1979                                 xReturn = taskSCHEDULER_RUNNING;\r
1980                         }\r
1981                         else\r
1982                         {\r
1983                                 xReturn = taskSCHEDULER_SUSPENDED;\r
1984                         }\r
1985                 }\r
1986                 \r
1987                 return xReturn;\r
1988         }\r
1989 \r
1990 #endif\r
1991 /*-----------------------------------------------------------*/\r
1992 \r
1993 #if ( configUSE_MUTEXES == 1 )\r
1994         \r
1995         void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )\r
1996         {\r
1997         tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;\r
1998 \r
1999                 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )\r
2000                 {\r
2001                         /* Adjust the mutex holder state to account for its new priority. */\r
2002                         listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );\r
2003 \r
2004                         /* If the task being modified is in the ready state it will need to\r
2005                         be moved in to a new list. */\r
2006                         if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )\r
2007                         {\r
2008                                 vListRemove( &( pxTCB->xGenericListItem ) );\r
2009 \r
2010                                 /* Inherit the priority before being moved into the new list. */\r
2011                                 pxTCB->uxPriority = pxCurrentTCB->uxPriority;\r
2012                                 prvAddTaskToReadyQueue( pxTCB );\r
2013                         }\r
2014                         else\r
2015                         {\r
2016                                 /* Just inherit the priority. */\r
2017                                 pxTCB->uxPriority = pxCurrentTCB->uxPriority;\r
2018                         }\r
2019                 }\r
2020         }\r
2021 \r
2022 #endif\r
2023 /*-----------------------------------------------------------*/\r
2024 \r
2025 #if ( configUSE_MUTEXES == 1 )  \r
2026 \r
2027         void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )\r
2028         {\r
2029         tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;\r
2030 \r
2031                 if( pxMutexHolder != NULL )\r
2032                 {\r
2033                         if( pxTCB->uxPriority != pxTCB->uxBasePriority )\r
2034                         {\r
2035                                 /* We must be the running task to be able to give the mutex back.\r
2036                                 Remove ourselves from the ready list we currently appear in. */\r
2037                                 vListRemove( &( pxTCB->xGenericListItem ) );\r
2038 \r
2039                                 /* Disinherit the priority before adding ourselves into the new\r
2040                                 ready list. */\r
2041                                 pxTCB->uxPriority = pxTCB->uxBasePriority;\r
2042                                 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );\r
2043                                 prvAddTaskToReadyQueue( pxTCB );\r
2044                         }\r
2045                 }\r
2046         }\r
2047 \r
2048 #endif\r
2049 /*-----------------------------------------------------------*/\r
2050 \r
2051 #if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
2052 \r
2053         void vTaskEnterCritical( void )\r
2054         {\r
2055                 portDISABLE_INTERRUPTS();\r
2056 \r
2057                 if( xSchedulerRunning != pdFALSE )\r
2058                 {\r
2059                         pxCurrentTCB->uxCriticalNesting++;\r
2060                 }\r
2061         }\r
2062 \r
2063 #endif\r
2064 /*-----------------------------------------------------------*/\r
2065 \r
2066 #if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
2067 \r
2068 void vTaskExitCritical( void )\r
2069 {\r
2070         if( xSchedulerRunning != pdFALSE )\r
2071         {\r
2072                 if( pxCurrentTCB->uxCriticalNesting > 0 )\r
2073                 {\r
2074                         pxCurrentTCB->uxCriticalNesting--;\r
2075 \r
2076                         if( pxCurrentTCB->uxCriticalNesting == 0 )\r
2077                         {\r
2078                                 portENABLE_INTERRUPTS();\r
2079                         }\r
2080                 }\r
2081         }\r
2082 }\r
2083 \r
2084 #endif\r
2085 /*-----------------------------------------------------------*/\r
2086 \r
2087 \r
2088         \r
2089 \r