2 FreeRTOS V7.0.2 - Copyright (C) 2011 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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59 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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60 all the API functions to use the MPU wrappers. That should only be done when
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61 task.h is included from an application file. */
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62 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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64 #include "FreeRTOS.h"
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67 #include "StackMacros.h"
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69 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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72 * Macro to define the amount of stack available to the idle task.
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74 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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77 * Task control block. A task control block (TCB) is allocated to each task,
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78 * and stores the context of the task.
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80 typedef struct tskTaskControlBlock
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82 volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE STRUCT. */
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84 #if ( portUSING_MPU_WRAPPERS == 1 )
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85 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE STRUCT. */
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88 xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
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89 xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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90 unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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91 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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92 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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94 #if ( portSTACK_GROWTH > 0 )
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95 portSTACK_TYPE *pxEndOfStack; /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
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98 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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99 unsigned portBASE_TYPE uxCriticalNesting;
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102 #if ( configUSE_TRACE_FACILITY == 1 )
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103 unsigned portBASE_TYPE uxTCBNumber; /*< This stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
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104 unsigned portBASE_TYPE uxTaskNumber; /*< This stores a number specifically for use by third party trace code. */
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107 #if ( configUSE_MUTEXES == 1 )
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108 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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111 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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112 pdTASK_HOOK_CODE pxTaskTag;
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115 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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116 unsigned long ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
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123 * Some kernel aware debuggers require data to be viewed to be global, rather
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126 #ifdef portREMOVE_STATIC_QUALIFIER
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131 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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133 /* Lists for ready and blocked tasks. --------------------*/
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135 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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136 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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137 PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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138 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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139 PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
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140 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */
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142 #if ( INCLUDE_vTaskDelete == 1 )
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144 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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145 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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149 #if ( INCLUDE_vTaskSuspend == 1 )
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151 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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155 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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157 PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL;
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161 /* File private variables. --------------------------------*/
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162 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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163 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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164 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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165 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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166 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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167 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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168 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0U;
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169 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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170 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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171 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTCBNumber = ( unsigned portBASE_TYPE ) 0U;
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172 PRIVILEGED_DATA static portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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174 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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176 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
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177 PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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178 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
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182 /* Debugging and trace facilities private variables and macros. ------------*/
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185 * The value used to fill the stack of a task when the task is created. This
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186 * is used purely for checking the high water mark for tasks.
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188 #define tskSTACK_FILL_BYTE ( 0xa5U )
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191 * Macros used by vListTask to indicate which state a task is in.
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193 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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194 #define tskREADY_CHAR ( ( signed char ) 'R' )
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195 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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196 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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198 /*-----------------------------------------------------------*/
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201 * Place the task represented by pxTCB into the appropriate ready queue for
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202 * the task. It is inserted at the end of the list. One quirk of this is
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203 * that if the task being inserted is at the same priority as the currently
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204 * executing task, then it will only be rescheduled after the currently
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205 * executing task has been rescheduled.
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207 #define prvAddTaskToReadyQueue( pxTCB ) \
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208 if( ( pxTCB )->uxPriority > uxTopReadyPriority ) \
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210 uxTopReadyPriority = ( pxTCB )->uxPriority; \
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212 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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213 /*-----------------------------------------------------------*/
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216 * Macro that looks at the list of tasks that are currently delayed to see if
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217 * any require waking.
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219 * Tasks are stored in the queue in the order of their wake time - meaning
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220 * once one tasks has been found whose timer has not expired we need not look
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221 * any further down the list.
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223 #define prvCheckDelayedTasks() \
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225 portTickType xItemValue; \
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227 /* Is the tick count greater than or equal to the wake time of the first \
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228 task referenced from the delayed tasks list? */ \
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229 if( xTickCount >= xNextTaskUnblockTime ) \
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233 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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235 /* The delayed list is empty. Set xNextTaskUnblockTime to the \
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236 maximum possible value so it is extremely unlikely that the \
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237 if( xTickCount >= xNextTaskUnblockTime ) test will pass next \
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239 xNextTaskUnblockTime = portMAX_DELAY; \
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244 /* The delayed list is not empty, get the value of the item at \
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245 the head of the delayed list. This is the time at which the \
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246 task at the head of the delayed list should be removed from \
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247 the Blocked state. */ \
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248 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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249 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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251 if( xTickCount < xItemValue ) \
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253 /* It is not time to unblock this item yet, but the item \
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254 value is the time at which the task at the head of the \
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255 blocked list should be removed from the Blocked state - \
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256 so record the item value in xNextTaskUnblockTime. */ \
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257 xNextTaskUnblockTime = xItemValue; \
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261 /* It is time to remove the item from the Blocked state. */ \
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262 vListRemove( &( pxTCB->xGenericListItem ) ); \
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264 /* Is the task waiting on an event also? */ \
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265 if( pxTCB->xEventListItem.pvContainer != NULL ) \
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267 vListRemove( &( pxTCB->xEventListItem ) ); \
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269 prvAddTaskToReadyQueue( pxTCB ); \
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274 /*-----------------------------------------------------------*/
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277 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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278 * where NULL is used to indicate that the handle of the currently executing
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279 * task should be used in place of the parameter. This macro simply checks to
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280 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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282 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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284 /* Callback function prototypes. --------------------------*/
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285 extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );
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286 extern void vApplicationTickHook( void );
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288 /* File private functions. --------------------------------*/
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291 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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292 * into the TCB structure.
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294 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
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297 * Utility to ready all the lists used by the scheduler. This is called
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298 * automatically upon the creation of the first task.
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300 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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303 * The idle task, which as all tasks is implemented as a never ending loop.
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304 * The idle task is automatically created and added to the ready lists upon
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305 * creation of the first user task.
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307 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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308 * language extensions. The equivalent prototype for this function is:
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310 * void prvIdleTask( void *pvParameters );
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313 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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316 * Utility to free all memory allocated by the scheduler to hold a TCB,
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317 * including the stack pointed to by the TCB.
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319 * This does not free memory allocated by the task itself (i.e. memory
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320 * allocated by calls to pvPortMalloc from within the tasks application code).
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322 #if ( INCLUDE_vTaskDelete == 1 )
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324 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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329 * Used only by the idle task. This checks to see if anything has been placed
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330 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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331 * and its TCB deleted.
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333 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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336 * The currently executing task is entering the Blocked state. Add the task to
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337 * either the current or the overflow delayed task list.
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339 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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342 * Allocates memory from the heap for a TCB and associated stack. Checks the
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343 * allocation was successful.
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345 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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348 * Called from vTaskList. vListTasks details all the tasks currently under
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349 * control of the scheduler. The tasks may be in one of a number of lists.
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350 * prvListTaskWithinSingleList accepts a list and details the tasks from
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351 * within just that list.
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353 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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354 * NORMAL APPLICATION CODE.
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356 #if ( configUSE_TRACE_FACILITY == 1 )
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358 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
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363 * When a task is created, the stack of the task is filled with a known value.
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364 * This function determines the 'high water mark' of the task stack by
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365 * determining how much of the stack remains at the original preset value.
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367 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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369 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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378 /*-----------------------------------------------------------
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379 * TASK CREATION API documented in task.h
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380 *----------------------------------------------------------*/
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382 signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
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384 signed portBASE_TYPE xReturn;
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387 configASSERT( pxTaskCode );
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388 configASSERT( ( uxPriority < configMAX_PRIORITIES ) );
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390 /* Allocate the memory required by the TCB and stack for the new task,
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391 checking that the allocation was successful. */
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392 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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394 if( pxNewTCB != NULL )
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396 portSTACK_TYPE *pxTopOfStack;
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398 #if( portUSING_MPU_WRAPPERS == 1 )
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399 /* Should the task be created in privileged mode? */
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400 portBASE_TYPE xRunPrivileged;
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401 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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403 xRunPrivileged = pdTRUE;
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407 xRunPrivileged = pdFALSE;
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409 uxPriority &= ~portPRIVILEGE_BIT;
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410 #endif /* portUSING_MPU_WRAPPERS == 1 */
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412 /* Calculate the top of stack address. This depends on whether the
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413 stack grows from high memory to low (as per the 80x86) or visa versa.
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414 portSTACK_GROWTH is used to make the result positive or negative as
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415 required by the port. */
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416 #if( portSTACK_GROWTH < 0 )
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418 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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419 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
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421 /* Check the alignment of the calculated top of stack is correct. */
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422 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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426 pxTopOfStack = pxNewTCB->pxStack;
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428 /* Check the alignment of the stack buffer is correct. */
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429 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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431 /* If we want to use stack checking on architectures that use
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432 a positive stack growth direction then we also need to store the
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433 other extreme of the stack space. */
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434 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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438 /* Setup the newly allocated TCB with the initial state of the task. */
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439 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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441 /* Initialize the TCB stack to look as if the task was already running,
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442 but had been interrupted by the scheduler. The return address is set
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443 to the start of the task function. Once the stack has been initialised
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444 the top of stack variable is updated. */
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445 #if( portUSING_MPU_WRAPPERS == 1 )
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447 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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451 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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455 /* Check the alignment of the initialised stack. */
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456 portALIGNMENT_ASSERT_pxCurrentTCB( ( ( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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458 if( ( void * ) pxCreatedTask != NULL )
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460 /* Pass the TCB out - in an anonymous way. The calling function/
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461 task can use this as a handle to delete the task later if
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463 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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466 /* We are going to manipulate the task queues to add this task to a
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467 ready list, so must make sure no interrupts occur. */
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468 taskENTER_CRITICAL();
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470 uxCurrentNumberOfTasks++;
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471 if( pxCurrentTCB == NULL )
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473 /* There are no other tasks, or all the other tasks are in
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474 the suspended state - make this the current task. */
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475 pxCurrentTCB = pxNewTCB;
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477 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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479 /* This is the first task to be created so do the preliminary
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480 initialisation required. We will not recover if this call
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481 fails, but we will report the failure. */
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482 prvInitialiseTaskLists();
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487 /* If the scheduler is not already running, make this task the
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488 current task if it is the highest priority task to be created
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490 if( xSchedulerRunning == pdFALSE )
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492 if( pxCurrentTCB->uxPriority <= uxPriority )
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494 pxCurrentTCB = pxNewTCB;
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499 /* Remember the top priority to make context switching faster. Use
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500 the priority in pxNewTCB as this has been capped to a valid value. */
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501 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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503 uxTopUsedPriority = pxNewTCB->uxPriority;
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506 #if ( configUSE_TRACE_FACILITY == 1 )
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508 /* Add a counter into the TCB for tracing only. */
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509 pxNewTCB->uxTCBNumber = uxTCBNumber;
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514 prvAddTaskToReadyQueue( pxNewTCB );
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517 traceTASK_CREATE( pxNewTCB );
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519 taskEXIT_CRITICAL();
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523 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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524 traceTASK_CREATE_FAILED();
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527 if( xReturn == pdPASS )
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529 if( xSchedulerRunning != pdFALSE )
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531 /* If the created task is of a higher priority than the current task
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532 then it should run now. */
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533 if( pxCurrentTCB->uxPriority < uxPriority )
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535 portYIELD_WITHIN_API();
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542 /*-----------------------------------------------------------*/
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544 #if ( INCLUDE_vTaskDelete == 1 )
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546 void vTaskDelete( xTaskHandle pxTaskToDelete )
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550 taskENTER_CRITICAL();
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552 /* Ensure a yield is performed if the current task is being
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554 if( pxTaskToDelete == pxCurrentTCB )
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556 pxTaskToDelete = NULL;
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559 /* If null is passed in here then we are deleting ourselves. */
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560 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
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562 /* Remove task from the ready list and place in the termination list.
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563 This will stop the task from be scheduled. The idle task will check
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564 the termination list and free up any memory allocated by the
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565 scheduler for the TCB and stack. */
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566 vListRemove( &( pxTCB->xGenericListItem ) );
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568 /* Is the task waiting on an event also? */
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569 if( pxTCB->xEventListItem.pvContainer != NULL )
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571 vListRemove( &( pxTCB->xEventListItem ) );
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574 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
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576 /* Increment the ucTasksDeleted variable so the idle task knows
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577 there is a task that has been deleted and that it should therefore
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578 check the xTasksWaitingTermination list. */
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581 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
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582 can detect that the task lists need re-generating. */
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585 traceTASK_DELETE( pxTCB );
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587 taskEXIT_CRITICAL();
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589 /* Force a reschedule if we have just deleted the current task. */
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590 if( xSchedulerRunning != pdFALSE )
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592 if( ( void * ) pxTaskToDelete == NULL )
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594 portYIELD_WITHIN_API();
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606 /*-----------------------------------------------------------
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607 * TASK CONTROL API documented in task.h
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608 *----------------------------------------------------------*/
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610 #if ( INCLUDE_vTaskDelayUntil == 1 )
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612 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
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614 portTickType xTimeToWake;
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615 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
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617 configASSERT( pxPreviousWakeTime );
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618 configASSERT( ( xTimeIncrement > 0U ) );
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622 /* Generate the tick time at which the task wants to wake. */
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623 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
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625 if( xTickCount < *pxPreviousWakeTime )
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627 /* The tick count has overflowed since this function was
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628 lasted called. In this case the only time we should ever
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629 actually delay is if the wake time has also overflowed,
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630 and the wake time is greater than the tick time. When this
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631 is the case it is as if neither time had overflowed. */
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632 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
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634 xShouldDelay = pdTRUE;
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639 /* The tick time has not overflowed. In this case we will
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640 delay if either the wake time has overflowed, and/or the
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641 tick time is less than the wake time. */
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642 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
644 xShouldDelay = pdTRUE;
\r
648 /* Update the wake time ready for the next call. */
\r
649 *pxPreviousWakeTime = xTimeToWake;
\r
651 if( xShouldDelay != pdFALSE )
\r
653 traceTASK_DELAY_UNTIL();
\r
655 /* We must remove ourselves from the ready list before adding
\r
656 ourselves to the blocked list as the same list item is used for
\r
658 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
659 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
662 xAlreadyYielded = xTaskResumeAll();
\r
664 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
665 have put ourselves to sleep. */
\r
666 if( xAlreadyYielded == pdFALSE )
\r
668 portYIELD_WITHIN_API();
\r
673 /*-----------------------------------------------------------*/
\r
675 #if ( INCLUDE_vTaskDelay == 1 )
\r
677 void vTaskDelay( portTickType xTicksToDelay )
\r
679 portTickType xTimeToWake;
\r
680 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
682 /* A delay time of zero just forces a reschedule. */
\r
683 if( xTicksToDelay > ( portTickType ) 0U )
\r
689 /* A task that is removed from the event list while the
\r
690 scheduler is suspended will not get placed in the ready
\r
691 list or removed from the blocked list until the scheduler
\r
694 This task cannot be in an event list as it is the currently
\r
697 /* Calculate the time to wake - this may overflow but this is
\r
699 xTimeToWake = xTickCount + xTicksToDelay;
\r
701 /* We must remove ourselves from the ready list before adding
\r
702 ourselves to the blocked list as the same list item is used for
\r
704 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
705 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
707 xAlreadyYielded = xTaskResumeAll();
\r
710 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
711 have put ourselves to sleep. */
\r
712 if( xAlreadyYielded == pdFALSE )
\r
714 portYIELD_WITHIN_API();
\r
719 /*-----------------------------------------------------------*/
\r
721 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
723 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
726 unsigned portBASE_TYPE uxReturn;
\r
728 taskENTER_CRITICAL();
\r
730 /* If null is passed in here then we are changing the
\r
731 priority of the calling function. */
\r
732 pxTCB = prvGetTCBFromHandle( pxTask );
\r
733 uxReturn = pxTCB->uxPriority;
\r
735 taskEXIT_CRITICAL();
\r
741 /*-----------------------------------------------------------*/
\r
743 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
745 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
748 unsigned portBASE_TYPE uxCurrentPriority;
\r
749 portBASE_TYPE xYieldRequired = pdFALSE;
\r
751 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
753 /* Ensure the new priority is valid. */
\r
754 if( uxNewPriority >= configMAX_PRIORITIES )
\r
756 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
759 taskENTER_CRITICAL();
\r
761 if( pxTask == pxCurrentTCB )
\r
766 /* If null is passed in here then we are changing the
\r
767 priority of the calling function. */
\r
768 pxTCB = prvGetTCBFromHandle( pxTask );
\r
770 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
772 #if ( configUSE_MUTEXES == 1 )
\r
774 uxCurrentPriority = pxTCB->uxBasePriority;
\r
778 uxCurrentPriority = pxTCB->uxPriority;
\r
782 if( uxCurrentPriority != uxNewPriority )
\r
784 /* The priority change may have readied a task of higher
\r
785 priority than the calling task. */
\r
786 if( uxNewPriority > uxCurrentPriority )
\r
788 if( pxTask != NULL )
\r
790 /* The priority of another task is being raised. If we
\r
791 were raising the priority of the currently running task
\r
792 there would be no need to switch as it must have already
\r
793 been the highest priority task. */
\r
794 xYieldRequired = pdTRUE;
\r
797 else if( pxTask == NULL )
\r
799 /* Setting our own priority down means there may now be another
\r
800 task of higher priority that is ready to execute. */
\r
801 xYieldRequired = pdTRUE;
\r
806 #if ( configUSE_MUTEXES == 1 )
\r
808 /* Only change the priority being used if the task is not
\r
809 currently using an inherited priority. */
\r
810 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
812 pxTCB->uxPriority = uxNewPriority;
\r
815 /* The base priority gets set whatever. */
\r
816 pxTCB->uxBasePriority = uxNewPriority;
\r
820 pxTCB->uxPriority = uxNewPriority;
\r
824 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
826 /* If the task is in the blocked or suspended list we need do
\r
827 nothing more than change it's priority variable. However, if
\r
828 the task is in a ready list it needs to be removed and placed
\r
829 in the queue appropriate to its new priority. */
\r
830 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
832 /* The task is currently in its ready list - remove before adding
\r
833 it to it's new ready list. As we are in a critical section we
\r
834 can do this even if the scheduler is suspended. */
\r
835 vListRemove( &( pxTCB->xGenericListItem ) );
\r
836 prvAddTaskToReadyQueue( pxTCB );
\r
839 if( xYieldRequired == pdTRUE )
\r
841 portYIELD_WITHIN_API();
\r
845 taskEXIT_CRITICAL();
\r
849 /*-----------------------------------------------------------*/
\r
851 #if ( INCLUDE_vTaskSuspend == 1 )
\r
853 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
857 taskENTER_CRITICAL();
\r
859 /* Ensure a yield is performed if the current task is being
\r
861 if( pxTaskToSuspend == pxCurrentTCB )
\r
863 pxTaskToSuspend = NULL;
\r
866 /* If null is passed in here then we are suspending ourselves. */
\r
867 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
869 traceTASK_SUSPEND( pxTCB );
\r
871 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
872 vListRemove( &( pxTCB->xGenericListItem ) );
\r
874 /* Is the task waiting on an event also? */
\r
875 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
877 vListRemove( &( pxTCB->xEventListItem ) );
\r
880 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
882 taskEXIT_CRITICAL();
\r
884 if( ( void * ) pxTaskToSuspend == NULL )
\r
886 if( xSchedulerRunning != pdFALSE )
\r
888 /* We have just suspended the current task. */
\r
889 portYIELD_WITHIN_API();
\r
893 /* The scheduler is not running, but the task that was pointed
\r
894 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
895 must be adjusted to point to a different task. */
\r
896 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
898 /* No other tasks are ready, so set pxCurrentTCB back to
\r
899 NULL so when the next task is created pxCurrentTCB will
\r
900 be set to point to it no matter what its relative priority
\r
902 pxCurrentTCB = NULL;
\r
906 vTaskSwitchContext();
\r
913 /*-----------------------------------------------------------*/
\r
915 #if ( INCLUDE_vTaskSuspend == 1 )
\r
917 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
919 portBASE_TYPE xReturn = pdFALSE;
\r
920 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
922 /* It does not make sense to check if the calling task is suspended. */
\r
923 configASSERT( xTask );
\r
925 /* Is the task we are attempting to resume actually in the
\r
927 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
929 /* Has the task already been resumed from within an ISR? */
\r
930 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
932 /* Is it in the suspended list because it is in the
\r
933 Suspended state? It is possible to be in the suspended
\r
934 list because it is blocked on a task with no timeout
\r
936 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
947 /*-----------------------------------------------------------*/
\r
949 #if ( INCLUDE_vTaskSuspend == 1 )
\r
951 void vTaskResume( xTaskHandle pxTaskToResume )
\r
955 /* It does not make sense to resume the calling task. */
\r
956 configASSERT( pxTaskToResume );
\r
958 /* Remove the task from whichever list it is currently in, and place
\r
959 it in the ready list. */
\r
960 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
962 /* The parameter cannot be NULL as it is impossible to resume the
\r
963 currently executing task. */
\r
964 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
966 taskENTER_CRITICAL();
\r
968 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
970 traceTASK_RESUME( pxTCB );
\r
972 /* As we are in a critical section we can access the ready
\r
973 lists even if the scheduler is suspended. */
\r
974 vListRemove( &( pxTCB->xGenericListItem ) );
\r
975 prvAddTaskToReadyQueue( pxTCB );
\r
977 /* We may have just resumed a higher priority task. */
\r
978 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
980 /* This yield may not cause the task just resumed to run, but
\r
981 will leave the lists in the correct state for the next yield. */
\r
982 portYIELD_WITHIN_API();
\r
986 taskEXIT_CRITICAL();
\r
992 /*-----------------------------------------------------------*/
\r
994 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
996 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
998 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1000 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1002 configASSERT( pxTaskToResume );
\r
1004 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1006 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1008 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1010 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1012 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1014 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1015 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1016 prvAddTaskToReadyQueue( pxTCB );
\r
1020 /* We cannot access the delayed or ready lists, so will hold this
\r
1021 task pending until the scheduler is resumed, at which point a
\r
1022 yield will be performed if necessary. */
\r
1023 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1027 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1029 return xYieldRequired;
\r
1037 /*-----------------------------------------------------------
\r
1038 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1039 *----------------------------------------------------------*/
\r
1042 void vTaskStartScheduler( void )
\r
1044 portBASE_TYPE xReturn;
\r
1046 /* Add the idle task at the lowest priority. */
\r
1047 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1049 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1050 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1051 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );
\r
1055 /* Create the idle task without storing its handle. */
\r
1056 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
\r
1060 #if ( configUSE_TIMERS == 1 )
\r
1062 if( xReturn == pdPASS )
\r
1064 xReturn = xTimerCreateTimerTask();
\r
1069 if( xReturn == pdPASS )
\r
1071 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1072 before or during the call to xPortStartScheduler(). The stacks of
\r
1073 the created tasks contain a status word with interrupts switched on
\r
1074 so interrupts will automatically get re-enabled when the first task
\r
1077 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1078 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1079 portDISABLE_INTERRUPTS();
\r
1081 xSchedulerRunning = pdTRUE;
\r
1082 xTickCount = ( portTickType ) 0U;
\r
1084 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1085 macro must be defined to configure the timer/counter used to generate
\r
1086 the run time counter time base. */
\r
1087 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1089 /* Setting up the timer tick is hardware specific and thus in the
\r
1090 portable interface. */
\r
1091 if( xPortStartScheduler() != pdFALSE )
\r
1093 /* Should not reach here as if the scheduler is running the
\r
1094 function will not return. */
\r
1098 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1102 /* This line will only be reached if the kernel could not be started. */
\r
1103 configASSERT( xReturn );
\r
1105 /*-----------------------------------------------------------*/
\r
1107 void vTaskEndScheduler( void )
\r
1109 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1110 routine so the original ISRs can be restored if necessary. The port
\r
1111 layer must ensure interrupts enable bit is left in the correct state. */
\r
1112 portDISABLE_INTERRUPTS();
\r
1113 xSchedulerRunning = pdFALSE;
\r
1114 vPortEndScheduler();
\r
1116 /*----------------------------------------------------------*/
\r
1118 void vTaskSuspendAll( void )
\r
1120 /* A critical section is not required as the variable is of type
\r
1122 ++uxSchedulerSuspended;
\r
1124 /*----------------------------------------------------------*/
\r
1126 signed portBASE_TYPE xTaskResumeAll( void )
\r
1128 register tskTCB *pxTCB;
\r
1129 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1131 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1132 previous call to vTaskSuspendAll(). */
\r
1133 configASSERT( uxSchedulerSuspended );
\r
1135 /* It is possible that an ISR caused a task to be removed from an event
\r
1136 list while the scheduler was suspended. If this was the case then the
\r
1137 removed task will have been added to the xPendingReadyList. Once the
\r
1138 scheduler has been resumed it is safe to move all the pending ready
\r
1139 tasks from this list into their appropriate ready list. */
\r
1140 taskENTER_CRITICAL();
\r
1142 --uxSchedulerSuspended;
\r
1144 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1146 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1148 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1150 /* Move any readied tasks from the pending list into the
\r
1151 appropriate ready list. */
\r
1152 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1154 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1155 vListRemove( &( pxTCB->xEventListItem ) );
\r
1156 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1157 prvAddTaskToReadyQueue( pxTCB );
\r
1159 /* If we have moved a task that has a priority higher than
\r
1160 the current task then we should yield. */
\r
1161 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1163 xYieldRequired = pdTRUE;
\r
1167 /* If any ticks occurred while the scheduler was suspended then
\r
1168 they should be processed now. This ensures the tick count does not
\r
1169 slip, and that any delayed tasks are resumed at the correct time. */
\r
1170 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1172 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1174 vTaskIncrementTick();
\r
1178 /* As we have processed some ticks it is appropriate to yield
\r
1179 to ensure the highest priority task that is ready to run is
\r
1180 the task actually running. */
\r
1181 #if configUSE_PREEMPTION == 1
\r
1183 xYieldRequired = pdTRUE;
\r
1188 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1190 xAlreadyYielded = pdTRUE;
\r
1191 xMissedYield = pdFALSE;
\r
1192 portYIELD_WITHIN_API();
\r
1197 taskEXIT_CRITICAL();
\r
1199 return xAlreadyYielded;
\r
1207 /*-----------------------------------------------------------
\r
1208 * PUBLIC TASK UTILITIES documented in task.h
\r
1209 *----------------------------------------------------------*/
\r
1213 portTickType xTaskGetTickCount( void )
\r
1215 portTickType xTicks;
\r
1217 /* Critical section required if running on a 16 bit processor. */
\r
1218 taskENTER_CRITICAL();
\r
1220 xTicks = xTickCount;
\r
1222 taskEXIT_CRITICAL();
\r
1226 /*-----------------------------------------------------------*/
\r
1228 portTickType xTaskGetTickCountFromISR( void )
\r
1230 portTickType xReturn;
\r
1231 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1233 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1234 xReturn = xTickCount;
\r
1235 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1239 /*-----------------------------------------------------------*/
\r
1241 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1243 /* A critical section is not required because the variables are of type
\r
1245 return uxCurrentNumberOfTasks;
\r
1247 /*-----------------------------------------------------------*/
\r
1249 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1251 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1255 /* If null is passed in here then the name of the calling task is being queried. */
\r
1256 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1257 configASSERT( pxTCB );
\r
1258 return &( pxTCB->pcTaskName[ 0 ] );
\r
1262 /*-----------------------------------------------------------*/
\r
1264 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1266 void vTaskList( signed char *pcWriteBuffer )
\r
1268 unsigned portBASE_TYPE uxQueue;
\r
1270 /* This is a VERY costly function that should be used for debug only.
\r
1271 It leaves interrupts disabled for a LONG time. */
\r
1273 vTaskSuspendAll();
\r
1275 /* Run through all the lists that could potentially contain a TCB and
\r
1276 report the task name, state and stack high water mark. */
\r
1278 *pcWriteBuffer = ( signed char ) 0x00;
\r
1279 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1281 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1287 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1289 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1291 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1293 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1295 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1298 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1300 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1303 #if( INCLUDE_vTaskDelete == 1 )
\r
1305 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1307 prvListTaskWithinSingleList( pcWriteBuffer, &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1312 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1314 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1316 prvListTaskWithinSingleList( pcWriteBuffer, &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1325 /*----------------------------------------------------------*/
\r
1327 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1329 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1331 unsigned portBASE_TYPE uxQueue;
\r
1332 unsigned long ulTotalRunTime;
\r
1334 /* This is a VERY costly function that should be used for debug only.
\r
1335 It leaves interrupts disabled for a LONG time. */
\r
1337 vTaskSuspendAll();
\r
1339 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1340 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1342 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1345 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1346 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1347 ulTotalRunTime /= 100UL;
\r
1349 /* Run through all the lists that could potentially contain a TCB,
\r
1350 generating a table of run timer percentages in the provided
\r
1353 *pcWriteBuffer = ( signed char ) 0x00;
\r
1354 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1356 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1362 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1364 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
\r
1366 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1368 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1370 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
\r
1373 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1375 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
\r
1378 #if ( INCLUDE_vTaskDelete == 1 )
\r
1380 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1382 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTime );
\r
1387 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1389 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1391 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTime );
\r
1400 /*----------------------------------------------------------*/
\r
1402 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1404 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1406 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1407 started, then xIdleTaskHandle will be NULL. */
\r
1408 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1409 return xIdleTaskHandle;
\r
1414 /*-----------------------------------------------------------
\r
1415 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1416 * documented in task.h
\r
1417 *----------------------------------------------------------*/
\r
1419 void vTaskIncrementTick( void )
\r
1423 /* Called by the portable layer each time a tick interrupt occurs.
\r
1424 Increments the tick then checks to see if the new tick value will cause any
\r
1425 tasks to be unblocked. */
\r
1426 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1429 if( xTickCount == ( portTickType ) 0U )
\r
1433 /* Tick count has overflowed so we need to swap the delay lists.
\r
1434 If there are any items in pxDelayedTaskList here then there is
\r
1436 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );
\r
1438 pxTemp = pxDelayedTaskList;
\r
1439 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1440 pxOverflowDelayedTaskList = pxTemp;
\r
1441 xNumOfOverflows++;
\r
1443 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1445 /* The new current delayed list is empty. Set
\r
1446 xNextTaskUnblockTime to the maximum possible value so it is
\r
1447 extremely unlikely that the
\r
1448 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
1449 there is an item in the delayed list. */
\r
1450 xNextTaskUnblockTime = portMAX_DELAY;
\r
1454 /* The new current delayed list is not empty, get the value of
\r
1455 the item at the head of the delayed list. This is the time at
\r
1456 which the task at the head of the delayed list should be removed
\r
1457 from the Blocked state. */
\r
1458 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1459 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1463 /* See if this tick has made a timeout expire. */
\r
1464 prvCheckDelayedTasks();
\r
1470 /* The tick hook gets called at regular intervals, even if the
\r
1471 scheduler is locked. */
\r
1472 #if ( configUSE_TICK_HOOK == 1 )
\r
1474 vApplicationTickHook();
\r
1479 #if ( configUSE_TICK_HOOK == 1 )
\r
1481 /* Guard against the tick hook being called when the missed tick
\r
1482 count is being unwound (when the scheduler is being unlocked. */
\r
1483 if( uxMissedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1485 vApplicationTickHook();
\r
1490 traceTASK_INCREMENT_TICK( xTickCount );
\r
1492 /*-----------------------------------------------------------*/
\r
1494 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1496 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1500 /* If xTask is NULL then we are setting our own task hook. */
\r
1501 if( xTask == NULL )
\r
1503 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1507 xTCB = ( tskTCB * ) xTask;
\r
1510 /* Save the hook function in the TCB. A critical section is required as
\r
1511 the value can be accessed from an interrupt. */
\r
1512 taskENTER_CRITICAL();
\r
1513 xTCB->pxTaskTag = pxHookFunction;
\r
1514 taskEXIT_CRITICAL();
\r
1518 /*-----------------------------------------------------------*/
\r
1520 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1522 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1525 pdTASK_HOOK_CODE xReturn;
\r
1527 /* If xTask is NULL then we are setting our own task hook. */
\r
1528 if( xTask == NULL )
\r
1530 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1534 xTCB = ( tskTCB * ) xTask;
\r
1537 /* Save the hook function in the TCB. A critical section is required as
\r
1538 the value can be accessed from an interrupt. */
\r
1539 taskENTER_CRITICAL();
\r
1540 xReturn = xTCB->pxTaskTag;
\r
1541 taskEXIT_CRITICAL();
\r
1547 /*-----------------------------------------------------------*/
\r
1549 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1551 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1554 portBASE_TYPE xReturn;
\r
1556 /* If xTask is NULL then we are calling our own task hook. */
\r
1557 if( xTask == NULL )
\r
1559 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1563 xTCB = ( tskTCB * ) xTask;
\r
1566 if( xTCB->pxTaskTag != NULL )
\r
1568 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1579 /*-----------------------------------------------------------*/
\r
1581 void vTaskSwitchContext( void )
\r
1583 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1585 /* The scheduler is currently suspended - do not allow a context
\r
1587 xMissedYield = pdTRUE;
\r
1591 traceTASK_SWITCHED_OUT();
\r
1593 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1595 unsigned long ulTempCounter;
\r
1597 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1598 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter );
\r
1600 ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
\r
1603 /* Add the amount of time the task has been running to the accumulated
\r
1604 time so far. The time the task started running was stored in
\r
1605 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1606 so count values are only valid until the timer overflows. Generally
\r
1607 this will be about 1 hour assuming a 1uS timer increment. */
\r
1608 pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
\r
1609 ulTaskSwitchedInTime = ulTempCounter;
\r
1613 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1614 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1616 /* Find the highest priority queue that contains ready tasks. */
\r
1617 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1619 configASSERT( uxTopReadyPriority );
\r
1620 --uxTopReadyPriority;
\r
1623 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1624 same priority get an equal share of the processor time. */
\r
1625 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1627 traceTASK_SWITCHED_IN();
\r
1630 /*-----------------------------------------------------------*/
\r
1632 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1634 portTickType xTimeToWake;
\r
1636 configASSERT( pxEventList );
\r
1638 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1639 SCHEDULER SUSPENDED. */
\r
1641 /* Place the event list item of the TCB in the appropriate event list.
\r
1642 This is placed in the list in priority order so the highest priority task
\r
1643 is the first to be woken by the event. */
\r
1644 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1646 /* We must remove ourselves from the ready list before adding ourselves
\r
1647 to the blocked list as the same list item is used for both lists. We have
\r
1648 exclusive access to the ready lists as the scheduler is locked. */
\r
1649 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1652 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1654 if( xTicksToWait == portMAX_DELAY )
\r
1656 /* Add ourselves to the suspended task list instead of a delayed task
\r
1657 list to ensure we are not woken by a timing event. We will block
\r
1659 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1663 /* Calculate the time at which the task should be woken if the event does
\r
1664 not occur. This may overflow but this doesn't matter. */
\r
1665 xTimeToWake = xTickCount + xTicksToWait;
\r
1666 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1671 /* Calculate the time at which the task should be woken if the event does
\r
1672 not occur. This may overflow but this doesn't matter. */
\r
1673 xTimeToWake = xTickCount + xTicksToWait;
\r
1674 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1678 /*-----------------------------------------------------------*/
\r
1680 #if configUSE_TIMERS == 1
\r
1682 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1684 portTickType xTimeToWake;
\r
1686 configASSERT( pxEventList );
\r
1688 /* This function should not be called by application code hence the
\r
1689 'Restricted' in its name. It is not part of the public API. It is
\r
1690 designed for use by kernel code, and has special calling requirements -
\r
1691 it should be called from a critical section. */
\r
1694 /* Place the event list item of the TCB in the appropriate event list.
\r
1695 In this case it is assume that this is the only task that is going to
\r
1696 be waiting on this event list, so the faster vListInsertEnd() function
\r
1697 can be used in place of vListInsert. */
\r
1698 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1700 /* We must remove this task from the ready list before adding it to the
\r
1701 blocked list as the same list item is used for both lists. This
\r
1702 function is called form a critical section. */
\r
1703 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1705 /* Calculate the time at which the task should be woken if the event does
\r
1706 not occur. This may overflow but this doesn't matter. */
\r
1707 xTimeToWake = xTickCount + xTicksToWait;
\r
1708 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1711 #endif /* configUSE_TIMERS */
\r
1712 /*-----------------------------------------------------------*/
\r
1714 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1716 tskTCB *pxUnblockedTCB;
\r
1717 portBASE_TYPE xReturn;
\r
1719 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1720 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1722 /* The event list is sorted in priority order, so we can remove the
\r
1723 first in the list, remove the TCB from the delayed list, and add
\r
1724 it to the ready list.
\r
1726 If an event is for a queue that is locked then this function will never
\r
1727 get called - the lock count on the queue will get modified instead. This
\r
1728 means we can always expect exclusive access to the event list here.
\r
1730 This function assumes that a check has already been made to ensure that
\r
1731 pxEventList is not empty. */
\r
1732 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1733 configASSERT( pxUnblockedTCB );
\r
1734 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1736 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1738 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1739 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1743 /* We cannot access the delayed or ready lists, so will hold this
\r
1744 task pending until the scheduler is resumed. */
\r
1745 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1748 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1750 /* Return true if the task removed from the event list has
\r
1751 a higher priority than the calling task. This allows
\r
1752 the calling task to know if it should force a context
\r
1758 xReturn = pdFALSE;
\r
1763 /*-----------------------------------------------------------*/
\r
1765 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1767 configASSERT( pxTimeOut );
\r
1768 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1769 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1771 /*-----------------------------------------------------------*/
\r
1773 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1775 portBASE_TYPE xReturn;
\r
1777 configASSERT( pxTimeOut );
\r
1778 configASSERT( pxTicksToWait );
\r
1780 taskENTER_CRITICAL();
\r
1782 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1783 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1784 the maximum block time then the task should block indefinitely, and
\r
1785 therefore never time out. */
\r
1786 if( *pxTicksToWait == portMAX_DELAY )
\r
1788 xReturn = pdFALSE;
\r
1790 else /* We are not blocking indefinitely, perform the checks below. */
\r
1793 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
1795 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1796 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1797 It must have wrapped all the way around and gone past us again. This
\r
1798 passed since vTaskSetTimeout() was called. */
\r
1801 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
1803 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1804 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
1805 vTaskSetTimeOutState( pxTimeOut );
\r
1806 xReturn = pdFALSE;
\r
1813 taskEXIT_CRITICAL();
\r
1817 /*-----------------------------------------------------------*/
\r
1819 void vTaskMissedYield( void )
\r
1821 xMissedYield = pdTRUE;
\r
1823 /*-----------------------------------------------------------*/
\r
1825 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1826 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
1828 unsigned portBASE_TYPE uxReturn;
\r
1831 if( xTask != NULL )
\r
1833 pxTCB = ( tskTCB * ) xTask;
\r
1834 uxReturn = pxTCB->uxTaskNumber;
\r
1844 /*-----------------------------------------------------------*/
\r
1846 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1847 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
1851 if( xTask != NULL )
\r
1853 pxTCB = ( tskTCB * ) xTask;
\r
1854 pxTCB->uxTaskNumber = uxHandle;
\r
1861 * -----------------------------------------------------------
\r
1863 * ----------------------------------------------------------
\r
1865 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1866 * language extensions. The equivalent prototype for this function is:
\r
1868 * void prvIdleTask( void *pvParameters );
\r
1871 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1873 /* Stop warnings. */
\r
1874 ( void ) pvParameters;
\r
1878 /* See if any tasks have been deleted. */
\r
1879 prvCheckTasksWaitingTermination();
\r
1881 #if ( configUSE_PREEMPTION == 0 )
\r
1883 /* If we are not using preemption we keep forcing a task switch to
\r
1884 see if any other task has become available. If we are using
\r
1885 preemption we don't need to do this as any task becoming available
\r
1886 will automatically get the processor anyway. */
\r
1891 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1893 /* When using preemption tasks of equal priority will be
\r
1894 timesliced. If a task that is sharing the idle priority is ready
\r
1895 to run then the idle task should yield before the end of the
\r
1898 A critical region is not required here as we are just reading from
\r
1899 the list, and an occasional incorrect value will not matter. If
\r
1900 the ready list at the idle priority contains more than one task
\r
1901 then a task other than the idle task is ready to execute. */
\r
1902 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1909 #if ( configUSE_IDLE_HOOK == 1 )
\r
1911 extern void vApplicationIdleHook( void );
\r
1913 /* Call the user defined function from within the idle task. This
\r
1914 allows the application designer to add background functionality
\r
1915 without the overhead of a separate task.
\r
1916 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1917 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1918 vApplicationIdleHook();
\r
1922 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1930 /*-----------------------------------------------------------
\r
1931 * File private functions documented at the top of the file.
\r
1932 *----------------------------------------------------------*/
\r
1936 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
1938 /* Store the function name in the TCB. */
\r
1939 #if configMAX_TASK_NAME_LEN > 1
\r
1941 /* Don't bring strncpy into the build unnecessarily. */
\r
1942 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
1945 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
\r
1947 /* This is used as an array index so must ensure it's not too large. First
\r
1948 remove the privilege bit if one is present. */
\r
1949 if( uxPriority >= configMAX_PRIORITIES )
\r
1951 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
1954 pxTCB->uxPriority = uxPriority;
\r
1955 #if ( configUSE_MUTEXES == 1 )
\r
1957 pxTCB->uxBasePriority = uxPriority;
\r
1961 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
1962 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
1964 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
1965 back to the containing TCB from a generic item in a list. */
\r
1966 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
1968 /* Event lists are always in priority order. */
\r
1969 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
1970 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
1972 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
1974 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
1978 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1980 pxTCB->pxTaskTag = NULL;
\r
1984 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1986 pxTCB->ulRunTimeCounter = 0UL;
\r
1990 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
1992 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
1996 ( void ) xRegions;
\r
1997 ( void ) usStackDepth;
\r
2001 /*-----------------------------------------------------------*/
\r
2003 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2005 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2009 if( xTaskToModify == pxCurrentTCB )
\r
2011 xTaskToModify = NULL;
\r
2014 /* If null is passed in here then we are deleting ourselves. */
\r
2015 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2017 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2019 /*-----------------------------------------------------------*/
\r
2022 static void prvInitialiseTaskLists( void )
\r
2024 unsigned portBASE_TYPE uxPriority;
\r
2026 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2028 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2031 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2032 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2033 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2035 #if ( INCLUDE_vTaskDelete == 1 )
\r
2037 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2041 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2043 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2047 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2049 pxDelayedTaskList = &xDelayedTaskList1;
\r
2050 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2052 /*-----------------------------------------------------------*/
\r
2054 static void prvCheckTasksWaitingTermination( void )
\r
2056 #if ( INCLUDE_vTaskDelete == 1 )
\r
2058 portBASE_TYPE xListIsEmpty;
\r
2060 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2061 too often in the idle task. */
\r
2062 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2064 vTaskSuspendAll();
\r
2065 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2068 if( xListIsEmpty == pdFALSE )
\r
2072 taskENTER_CRITICAL();
\r
2074 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2075 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2076 --uxCurrentNumberOfTasks;
\r
2079 taskEXIT_CRITICAL();
\r
2081 prvDeleteTCB( pxTCB );
\r
2087 /*-----------------------------------------------------------*/
\r
2089 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2091 /* The list item will be inserted in wake time order. */
\r
2092 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2094 if( xTimeToWake < xTickCount )
\r
2096 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2097 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2101 /* The wake time has not overflowed, so we can use the current block list. */
\r
2102 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2104 /* If the task entering the blocked state was placed at the head of the
\r
2105 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2107 if( xTimeToWake < xNextTaskUnblockTime )
\r
2109 xNextTaskUnblockTime = xTimeToWake;
\r
2113 /*-----------------------------------------------------------*/
\r
2115 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2119 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2120 the implementation of the port malloc function. */
\r
2121 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2123 if( pxNewTCB != NULL )
\r
2125 /* Allocate space for the stack used by the task being created.
\r
2126 The base of the stack memory stored in the TCB so the task can
\r
2127 be deleted later if required. */
\r
2128 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2130 if( pxNewTCB->pxStack == NULL )
\r
2132 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2133 vPortFree( pxNewTCB );
\r
2138 /* Just to help debugging. */
\r
2139 memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2145 /*-----------------------------------------------------------*/
\r
2147 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2149 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2151 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2152 unsigned short usStackRemaining;
\r
2153 PRIVILEGED_DATA static char pcStatusString[ 50 ];
\r
2155 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2156 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2159 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2160 #if ( portSTACK_GROWTH > 0 )
\r
2162 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2166 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2170 sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
\r
2171 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2173 } while( pxNextTCB != pxFirstTCB );
\r
2177 /*-----------------------------------------------------------*/
\r
2179 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2181 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
\r
2183 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2184 unsigned long ulStatsAsPercentage;
\r
2186 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2187 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2190 /* Get next TCB in from the list. */
\r
2191 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2193 /* Divide by zero check. */
\r
2194 if( ulTotalRunTime > 0UL )
\r
2196 /* Has the task run at all? */
\r
2197 if( pxNextTCB->ulRunTimeCounter == 0UL )
\r
2199 /* The task has used no CPU time at all. */
\r
2200 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2204 /* What percentage of the total run time has the task used?
\r
2205 This will always be rounded down to the nearest integer.
\r
2206 ulTotalRunTime has already been divided by 100. */
\r
2207 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime;
\r
2209 if( ulStatsAsPercentage > 0UL )
\r
2211 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2213 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2217 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2218 printf() library can be used. */
\r
2219 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2225 /* If the percentage is zero here then the task has
\r
2226 consumed less than 1% of the total run time. */
\r
2227 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2229 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2233 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2234 printf() library can be used. */
\r
2235 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2241 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2244 } while( pxNextTCB != pxFirstTCB );
\r
2248 /*-----------------------------------------------------------*/
\r
2250 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2252 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2254 register unsigned short usCount = 0U;
\r
2256 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2258 pucStackByte -= portSTACK_GROWTH;
\r
2262 usCount /= sizeof( portSTACK_TYPE );
\r
2268 /*-----------------------------------------------------------*/
\r
2270 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2272 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2275 unsigned char *pcEndOfStack;
\r
2276 unsigned portBASE_TYPE uxReturn;
\r
2278 pxTCB = prvGetTCBFromHandle( xTask );
\r
2280 #if portSTACK_GROWTH < 0
\r
2282 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2286 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2290 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2296 /*-----------------------------------------------------------*/
\r
2298 #if ( INCLUDE_vTaskDelete == 1 )
\r
2300 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2302 /* This call is required specifically for the TriCore port. It must be
\r
2303 above the vPortFree() calls. */
\r
2304 portCLEAN_UP_TCB( pxTCB );
\r
2306 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2307 the task to free any memory allocated at the application level. */
\r
2308 vPortFreeAligned( pxTCB->pxStack );
\r
2309 vPortFree( pxTCB );
\r
2315 /*-----------------------------------------------------------*/
\r
2317 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2319 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2321 xTaskHandle xReturn;
\r
2323 /* A critical section is not required as this is not called from
\r
2324 an interrupt and the current TCB will always be the same for any
\r
2325 individual execution thread. */
\r
2326 xReturn = pxCurrentTCB;
\r
2333 /*-----------------------------------------------------------*/
\r
2335 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2337 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2339 portBASE_TYPE xReturn;
\r
2341 if( xSchedulerRunning == pdFALSE )
\r
2343 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2347 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2349 xReturn = taskSCHEDULER_RUNNING;
\r
2353 xReturn = taskSCHEDULER_SUSPENDED;
\r
2361 /*-----------------------------------------------------------*/
\r
2363 #if ( configUSE_MUTEXES == 1 )
\r
2365 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2367 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2369 configASSERT( pxMutexHolder );
\r
2371 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2373 /* Adjust the mutex holder state to account for its new priority. */
\r
2374 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2376 /* If the task being modified is in the ready state it will need to
\r
2377 be moved in to a new list. */
\r
2378 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2380 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2382 /* Inherit the priority before being moved into the new list. */
\r
2383 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2384 prvAddTaskToReadyQueue( pxTCB );
\r
2388 /* Just inherit the priority. */
\r
2389 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2392 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2397 /*-----------------------------------------------------------*/
\r
2399 #if ( configUSE_MUTEXES == 1 )
\r
2401 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2403 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2405 if( pxMutexHolder != NULL )
\r
2407 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2409 /* We must be the running task to be able to give the mutex back.
\r
2410 Remove ourselves from the ready list we currently appear in. */
\r
2411 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2413 /* Disinherit the priority before adding the task into the new
\r
2415 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2416 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2417 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2418 prvAddTaskToReadyQueue( pxTCB );
\r
2424 /*-----------------------------------------------------------*/
\r
2426 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2428 void vTaskEnterCritical( void )
\r
2430 portDISABLE_INTERRUPTS();
\r
2432 if( xSchedulerRunning != pdFALSE )
\r
2434 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2439 /*-----------------------------------------------------------*/
\r
2441 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2443 void vTaskExitCritical( void )
\r
2445 if( xSchedulerRunning != pdFALSE )
\r
2447 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2449 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2451 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2453 portENABLE_INTERRUPTS();
\r
2460 /*-----------------------------------------------------------*/
\r
projects / freertos / blob