2 FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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4 ***************************************************************************
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8 * + New to FreeRTOS, *
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9 * + Wanting to learn FreeRTOS or multitasking in general quickly *
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10 * + Looking for basic training, *
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11 * + Wanting to improve your FreeRTOS skills and productivity *
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13 * then take a look at the FreeRTOS books - available as PDF or paperback *
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15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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16 * http://www.FreeRTOS.org/Documentation *
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18 * A pdf reference manual is also available. Both are usually delivered *
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19 * to your inbox within 20 minutes to two hours when purchased between 8am *
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20 * and 8pm GMT (although please allow up to 24 hours in case of *
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21 * exceptional circumstances). Thank you for your support! *
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23 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 ***NOTE*** The exception to the GPL is included to allow you to distribute
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31 a combined work that includes FreeRTOS without being obliged to provide the
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32 source code for proprietary components outside of the FreeRTOS kernel.
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33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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35 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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59 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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60 all the API functions to use the MPU wrappers. That should only be done when
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61 task.h is included from an application file. */
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62 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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64 #include "FreeRTOS.h"
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66 #include "StackMacros.h"
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68 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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71 * Macro to define the amount of stack available to the idle task.
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73 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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76 * Task control block. A task control block (TCB) is allocated to each task,
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77 * and stores the context of the task.
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79 typedef struct tskTaskControlBlock
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81 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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83 #if ( portUSING_MPU_WRAPPERS == 1 )
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84 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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87 xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
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88 xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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89 unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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90 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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91 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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93 #if ( portSTACK_GROWTH > 0 )
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94 portSTACK_TYPE *pxEndOfStack; /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
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97 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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98 unsigned portBASE_TYPE uxCriticalNesting;
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101 #if ( configUSE_TRACE_FACILITY == 1 )
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102 unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
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105 #if ( configUSE_MUTEXES == 1 )
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106 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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109 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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110 pdTASK_HOOK_CODE pxTaskTag;
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113 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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114 unsigned long ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
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121 * Some kernel aware debuggers require data to be viewed to be global, rather
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124 #ifdef portREMOVE_STATIC_QUALIFIER
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129 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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131 /* Lists for ready and blocked tasks. --------------------*/
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133 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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134 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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135 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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136 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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137 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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138 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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140 #if ( INCLUDE_vTaskDelete == 1 )
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142 PRIVILEGED_DATA static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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143 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
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147 #if ( INCLUDE_vTaskSuspend == 1 )
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149 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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153 /* File private variables. --------------------------------*/
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154 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
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155 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0;
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156 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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157 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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158 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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159 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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160 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
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161 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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162 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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163 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0;
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164 PRIVILEGED_DATA static portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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166 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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168 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
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169 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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170 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
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174 /* Debugging and trace facilities private variables and macros. ------------*/
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177 * The value used to fill the stack of a task when the task is created. This
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178 * is used purely for checking the high water mark for tasks.
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180 #define tskSTACK_FILL_BYTE ( 0xa5 )
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183 * Macros used by vListTask to indicate which state a task is in.
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185 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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186 #define tskREADY_CHAR ( ( signed char ) 'R' )
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187 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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188 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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191 * Macros and private variables used by the trace facility.
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193 #if ( configUSE_TRACE_FACILITY == 1 )
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195 #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned long ) ( sizeof( unsigned long ) + sizeof( unsigned long ) ) )
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196 PRIVILEGED_DATA static volatile signed char * volatile pcTraceBuffer;
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197 PRIVILEGED_DATA static signed char *pcTraceBufferStart;
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198 PRIVILEGED_DATA static signed char *pcTraceBufferEnd;
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199 PRIVILEGED_DATA static signed portBASE_TYPE xTracing = pdFALSE;
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200 static unsigned portBASE_TYPE uxPreviousTask = 255;
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201 PRIVILEGED_DATA static char pcStatusString[ 50 ];
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205 /*-----------------------------------------------------------*/
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208 * Macro that writes a trace of scheduler activity to a buffer. This trace
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209 * shows which task is running when and is very useful as a debugging tool.
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210 * As this macro is called each context switch it is a good idea to undefine
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211 * it if not using the facility.
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213 #if ( configUSE_TRACE_FACILITY == 1 )
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215 #define vWriteTraceToBuffer() \
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219 if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
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221 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
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223 uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
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224 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) xTickCount; \
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225 pcTraceBuffer += sizeof( unsigned long ); \
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226 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) uxPreviousTask; \
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227 pcTraceBuffer += sizeof( unsigned long ); \
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231 xTracing = pdFALSE; \
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239 #define vWriteTraceToBuffer()
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242 /*-----------------------------------------------------------*/
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245 * Place the task represented by pxTCB into the appropriate ready queue for
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246 * the task. It is inserted at the end of the list. One quirk of this is
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247 * that if the task being inserted is at the same priority as the currently
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248 * executing task, then it will only be rescheduled after the currently
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249 * executing task has been rescheduled.
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251 #define prvAddTaskToReadyQueue( pxTCB ) \
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253 if( pxTCB->uxPriority > uxTopReadyPriority ) \
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255 uxTopReadyPriority = pxTCB->uxPriority; \
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257 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \
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259 /*-----------------------------------------------------------*/
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262 * Macro that looks at the list of tasks that are currently delayed to see if
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263 * any require waking.
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265 * Tasks are stored in the queue in the order of their wake time - meaning
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266 * once one tasks has been found whose timer has not expired we need not look
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267 * any further down the list.
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269 #define prvCheckDelayedTasks() \
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271 register tskTCB *pxTCB; \
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272 portTickType xItemValue; \
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274 /* Is the tick count greater than or equal to the wake time of the first \
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275 task referenced from the delayed tasks list? */ \
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276 if( xTickCount >= xNextTaskUnblockTime ) \
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280 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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282 /* The delayed list is empty. Set xNextTaskUnblockTime to the \
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283 maximum possible value so it is extremely unlikely that the \
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284 if( xTickCount >= xNextTaskUnblockTime ) test will pass next \
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286 xNextTaskUnblockTime = portMAX_DELAY; \
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291 /* The delayed list is not empty, get the value of the item at \
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292 the head of the delayed list. This is the time at which the \
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293 task at the head of the delayed list should be removed from \
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294 the Blocked state. */ \
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295 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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296 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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298 if( xTickCount < xItemValue ) \
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300 /* It is not time to unblock this item yet, but the item \
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301 value is the time at which the task at the head of the \
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302 blocked list should be removed from the Blocked state - \
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303 so record the item value in xNextTaskUnblockTime. */ \
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304 xNextTaskUnblockTime = xItemValue; \
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308 /* It is time to remove the item from the Blocked state. */ \
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309 vListRemove( &( pxTCB->xGenericListItem ) ); \
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311 /* Is the task waiting on an event also? */ \
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312 if( pxTCB->xEventListItem.pvContainer ) \
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314 vListRemove( &( pxTCB->xEventListItem ) ); \
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316 prvAddTaskToReadyQueue( pxTCB ); \
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321 /*-----------------------------------------------------------*/
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324 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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325 * where NULL is used to indicate that the handle of the currently executing
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326 * task should be used in place of the parameter. This macro simply checks to
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327 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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329 #define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )
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332 /* File private functions. --------------------------------*/
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335 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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336 * into the TCB structure.
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338 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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341 * Utility to ready all the lists used by the scheduler. This is called
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342 * automatically upon the creation of the first task.
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344 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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347 * The idle task, which as all tasks is implemented as a never ending loop.
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348 * The idle task is automatically created and added to the ready lists upon
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349 * creation of the first user task.
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351 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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352 * language extensions. The equivalent prototype for this function is:
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354 * void prvIdleTask( void *pvParameters );
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357 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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360 * Utility to free all memory allocated by the scheduler to hold a TCB,
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361 * including the stack pointed to by the TCB.
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363 * This does not free memory allocated by the task itself (i.e. memory
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364 * allocated by calls to pvPortMalloc from within the tasks application code).
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366 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
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368 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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373 * Used only by the idle task. This checks to see if anything has been placed
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374 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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375 * and its TCB deleted.
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377 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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380 * The currently executing task is entering the Blocked state. Add the task to
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381 * either the current or the overflow delayed task list.
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383 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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386 * Allocates memory from the heap for a TCB and associated stack. Checks the
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387 * allocation was successful.
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389 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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392 * Called from vTaskList. vListTasks details all the tasks currently under
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393 * control of the scheduler. The tasks may be in one of a number of lists.
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394 * prvListTaskWithinSingleList accepts a list and details the tasks from
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395 * within just that list.
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397 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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398 * NORMAL APPLICATION CODE.
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400 #if ( configUSE_TRACE_FACILITY == 1 )
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402 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
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407 * When a task is created, the stack of the task is filled with a known value.
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408 * This function determines the 'high water mark' of the task stack by
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409 * determining how much of the stack remains at the original preset value.
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411 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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413 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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422 /*-----------------------------------------------------------
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423 * TASK CREATION API documented in task.h
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424 *----------------------------------------------------------*/
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426 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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428 signed portBASE_TYPE xReturn;
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431 /* Allocate the memory required by the TCB and stack for the new task,
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432 checking that the allocation was successful. */
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433 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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435 if( pxNewTCB != NULL )
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437 portSTACK_TYPE *pxTopOfStack;
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439 #if( portUSING_MPU_WRAPPERS == 1 )
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440 /* Should the task be created in privileged mode? */
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441 portBASE_TYPE xRunPrivileged;
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442 if( ( uxPriority & portPRIVILEGE_BIT ) != 0x00 )
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444 xRunPrivileged = pdTRUE;
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448 xRunPrivileged = pdFALSE;
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450 uxPriority &= ~portPRIVILEGE_BIT;
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451 #endif /* portUSING_MPU_WRAPPERS == 1 */
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453 /* Calculate the top of stack address. This depends on whether the
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454 stack grows from high memory to low (as per the 80x86) or visa versa.
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455 portSTACK_GROWTH is used to make the result positive or negative as
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456 required by the port. */
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457 #if( portSTACK_GROWTH < 0 )
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459 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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460 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( unsigned long ) pxTopOfStack ) & ( ( unsigned long ) ~portBYTE_ALIGNMENT_MASK ) );
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464 pxTopOfStack = pxNewTCB->pxStack;
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466 /* If we want to use stack checking on architectures that use
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467 a positive stack growth direction then we also need to store the
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468 other extreme of the stack space. */
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469 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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473 /* Setup the newly allocated TCB with the initial state of the task. */
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474 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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476 /* Initialize the TCB stack to look as if the task was already running,
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477 but had been interrupted by the scheduler. The return address is set
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478 to the start of the task function. Once the stack has been initialised
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479 the top of stack variable is updated. */
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480 #if( portUSING_MPU_WRAPPERS == 1 )
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482 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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486 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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490 if( ( void * ) pxCreatedTask != NULL )
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492 /* Pass the TCB out - in an anonymous way. The calling function/
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493 task can use this as a handle to delete the task later if
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495 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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498 /* We are going to manipulate the task queues to add this task to a
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499 ready list, so must make sure no interrupts occur. */
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500 portENTER_CRITICAL();
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502 uxCurrentNumberOfTasks++;
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503 if( pxCurrentTCB == NULL )
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505 /* There are no other tasks, or all the other tasks are in
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506 the suspended state - make this the current task. */
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507 pxCurrentTCB = pxNewTCB;
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509 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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511 /* This is the first task to be created so do the preliminary
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512 initialisation required. We will not recover if this call
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513 fails, but we will report the failure. */
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514 prvInitialiseTaskLists();
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519 /* If the scheduler is not already running, make this task the
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520 current task if it is the highest priority task to be created
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522 if( xSchedulerRunning == pdFALSE )
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524 if( pxCurrentTCB->uxPriority <= uxPriority )
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526 pxCurrentTCB = pxNewTCB;
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531 /* Remember the top priority to make context switching faster. Use
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532 the priority in pxNewTCB as this has been capped to a valid value. */
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533 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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535 uxTopUsedPriority = pxNewTCB->uxPriority;
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538 #if ( configUSE_TRACE_FACILITY == 1 )
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540 /* Add a counter into the TCB for tracing only. */
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541 pxNewTCB->uxTCBNumber = uxTaskNumber;
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546 prvAddTaskToReadyQueue( pxNewTCB );
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549 traceTASK_CREATE( pxNewTCB );
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551 portEXIT_CRITICAL();
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555 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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556 traceTASK_CREATE_FAILED();
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559 if( xReturn == pdPASS )
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561 if( xSchedulerRunning != pdFALSE )
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563 /* If the created task is of a higher priority than the current task
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564 then it should run now. */
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565 if( pxCurrentTCB->uxPriority < uxPriority )
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567 portYIELD_WITHIN_API();
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574 /*-----------------------------------------------------------*/
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576 #if ( INCLUDE_vTaskDelete == 1 )
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578 void vTaskDelete( xTaskHandle pxTaskToDelete )
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582 portENTER_CRITICAL();
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584 /* Ensure a yield is performed if the current task is being
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586 if( pxTaskToDelete == pxCurrentTCB )
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588 pxTaskToDelete = NULL;
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591 /* If null is passed in here then we are deleting ourselves. */
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592 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
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594 /* Remove task from the ready list and place in the termination list.
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595 This will stop the task from be scheduled. The idle task will check
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596 the termination list and free up any memory allocated by the
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597 scheduler for the TCB and stack. */
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598 vListRemove( &( pxTCB->xGenericListItem ) );
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600 /* Is the task waiting on an event also? */
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601 if( pxTCB->xEventListItem.pvContainer )
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603 vListRemove( &( pxTCB->xEventListItem ) );
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606 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
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608 /* Increment the ucTasksDeleted variable so the idle task knows
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609 there is a task that has been deleted and that it should therefore
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610 check the xTasksWaitingTermination list. */
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613 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
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614 can detect that the task lists need re-generating. */
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617 traceTASK_DELETE( pxTCB );
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619 portEXIT_CRITICAL();
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621 /* Force a reschedule if we have just deleted the current task. */
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622 if( xSchedulerRunning != pdFALSE )
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624 if( ( void * ) pxTaskToDelete == NULL )
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626 portYIELD_WITHIN_API();
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638 /*-----------------------------------------------------------
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639 * TASK CONTROL API documented in task.h
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640 *----------------------------------------------------------*/
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642 #if ( INCLUDE_vTaskDelayUntil == 1 )
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644 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
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646 portTickType xTimeToWake;
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647 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
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651 /* Generate the tick time at which the task wants to wake. */
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652 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
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654 if( xTickCount < *pxPreviousWakeTime )
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656 /* The tick count has overflowed since this function was
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657 lasted called. In this case the only time we should ever
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658 actually delay is if the wake time has also overflowed,
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659 and the wake time is greater than the tick time. When this
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660 is the case it is as if neither time had overflowed. */
\r
661 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
663 xShouldDelay = pdTRUE;
\r
668 /* The tick time has not overflowed. In this case we will
\r
669 delay if either the wake time has overflowed, and/or the
\r
670 tick time is less than the wake time. */
\r
671 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
673 xShouldDelay = pdTRUE;
\r
677 /* Update the wake time ready for the next call. */
\r
678 *pxPreviousWakeTime = xTimeToWake;
\r
680 if( xShouldDelay != pdFALSE )
\r
682 traceTASK_DELAY_UNTIL();
\r
684 /* We must remove ourselves from the ready list before adding
\r
685 ourselves to the blocked list as the same list item is used for
\r
687 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
688 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
691 xAlreadyYielded = xTaskResumeAll();
\r
693 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
694 have put ourselves to sleep. */
\r
695 if( !xAlreadyYielded )
\r
697 portYIELD_WITHIN_API();
\r
702 /*-----------------------------------------------------------*/
\r
704 #if ( INCLUDE_vTaskDelay == 1 )
\r
706 void vTaskDelay( portTickType xTicksToDelay )
\r
708 portTickType xTimeToWake;
\r
709 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
711 /* A delay time of zero just forces a reschedule. */
\r
712 if( xTicksToDelay > ( portTickType ) 0 )
\r
718 /* A task that is removed from the event list while the
\r
719 scheduler is suspended will not get placed in the ready
\r
720 list or removed from the blocked list until the scheduler
\r
723 This task cannot be in an event list as it is the currently
\r
726 /* Calculate the time to wake - this may overflow but this is
\r
728 xTimeToWake = xTickCount + xTicksToDelay;
\r
730 /* We must remove ourselves from the ready list before adding
\r
731 ourselves to the blocked list as the same list item is used for
\r
733 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
734 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
736 xAlreadyYielded = xTaskResumeAll();
\r
739 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
740 have put ourselves to sleep. */
\r
741 if( !xAlreadyYielded )
\r
743 portYIELD_WITHIN_API();
\r
748 /*-----------------------------------------------------------*/
\r
750 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
752 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
755 unsigned portBASE_TYPE uxReturn;
\r
757 portENTER_CRITICAL();
\r
759 /* If null is passed in here then we are changing the
\r
760 priority of the calling function. */
\r
761 pxTCB = prvGetTCBFromHandle( pxTask );
\r
762 uxReturn = pxTCB->uxPriority;
\r
764 portEXIT_CRITICAL();
\r
770 /*-----------------------------------------------------------*/
\r
772 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
774 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
777 unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
\r
779 /* Ensure the new priority is valid. */
\r
780 if( uxNewPriority >= configMAX_PRIORITIES )
\r
782 uxNewPriority = configMAX_PRIORITIES - 1;
\r
785 portENTER_CRITICAL();
\r
787 if( pxTask == pxCurrentTCB )
\r
792 /* If null is passed in here then we are changing the
\r
793 priority of the calling function. */
\r
794 pxTCB = prvGetTCBFromHandle( pxTask );
\r
796 traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
\r
798 #if ( configUSE_MUTEXES == 1 )
\r
800 uxCurrentPriority = pxTCB->uxBasePriority;
\r
804 uxCurrentPriority = pxTCB->uxPriority;
\r
808 if( uxCurrentPriority != uxNewPriority )
\r
810 /* The priority change may have readied a task of higher
\r
811 priority than the calling task. */
\r
812 if( uxNewPriority > uxCurrentPriority )
\r
814 if( pxTask != NULL )
\r
816 /* The priority of another task is being raised. If we
\r
817 were raising the priority of the currently running task
\r
818 there would be no need to switch as it must have already
\r
819 been the highest priority task. */
\r
820 xYieldRequired = pdTRUE;
\r
823 else if( pxTask == NULL )
\r
825 /* Setting our own priority down means there may now be another
\r
826 task of higher priority that is ready to execute. */
\r
827 xYieldRequired = pdTRUE;
\r
832 #if ( configUSE_MUTEXES == 1 )
\r
834 /* Only change the priority being used if the task is not
\r
835 currently using an inherited priority. */
\r
836 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
838 pxTCB->uxPriority = uxNewPriority;
\r
841 /* The base priority gets set whatever. */
\r
842 pxTCB->uxBasePriority = uxNewPriority;
\r
846 pxTCB->uxPriority = uxNewPriority;
\r
850 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
852 /* If the task is in the blocked or suspended list we need do
\r
853 nothing more than change it's priority variable. However, if
\r
854 the task is in a ready list it needs to be removed and placed
\r
855 in the queue appropriate to its new priority. */
\r
856 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
858 /* The task is currently in its ready list - remove before adding
\r
859 it to it's new ready list. As we are in a critical section we
\r
860 can do this even if the scheduler is suspended. */
\r
861 vListRemove( &( pxTCB->xGenericListItem ) );
\r
862 prvAddTaskToReadyQueue( pxTCB );
\r
865 if( xYieldRequired == pdTRUE )
\r
867 portYIELD_WITHIN_API();
\r
871 portEXIT_CRITICAL();
\r
875 /*-----------------------------------------------------------*/
\r
877 #if ( INCLUDE_vTaskSuspend == 1 )
\r
879 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
883 portENTER_CRITICAL();
\r
885 /* Ensure a yield is performed if the current task is being
\r
887 if( pxTaskToSuspend == pxCurrentTCB )
\r
889 pxTaskToSuspend = NULL;
\r
892 /* If null is passed in here then we are suspending ourselves. */
\r
893 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
895 traceTASK_SUSPEND( pxTCB );
\r
897 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
898 vListRemove( &( pxTCB->xGenericListItem ) );
\r
900 /* Is the task waiting on an event also? */
\r
901 if( pxTCB->xEventListItem.pvContainer )
\r
903 vListRemove( &( pxTCB->xEventListItem ) );
\r
906 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
908 portEXIT_CRITICAL();
\r
910 if( ( void * ) pxTaskToSuspend == NULL )
\r
912 if( xSchedulerRunning != pdFALSE )
\r
914 /* We have just suspended the current task. */
\r
915 portYIELD_WITHIN_API();
\r
919 /* The scheduler is not running, but the task that was pointed
\r
920 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
921 must be adjusted to point to a different task. */
\r
922 if( uxCurrentNumberOfTasks == 1 )
\r
924 /* No other tasks are defined, so set pxCurrentTCB back to
\r
925 NULL so when the next task is created pxCurrentTCB will
\r
926 be set to point to it no matter what its relative priority
\r
928 pxCurrentTCB = NULL;
\r
932 vTaskSwitchContext();
\r
939 /*-----------------------------------------------------------*/
\r
941 #if ( INCLUDE_vTaskSuspend == 1 )
\r
943 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
945 portBASE_TYPE xReturn = pdFALSE;
\r
946 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
948 /* Is the task we are attempting to resume actually in the
\r
950 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
952 /* Has the task already been resumed from within an ISR? */
\r
953 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
955 /* Is it in the suspended list because it is in the
\r
956 Suspended state? It is possible to be in the suspended
\r
957 list because it is blocked on a task with no timeout
\r
959 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
970 /*-----------------------------------------------------------*/
\r
972 #if ( INCLUDE_vTaskSuspend == 1 )
\r
974 void vTaskResume( xTaskHandle pxTaskToResume )
\r
978 /* Remove the task from whichever list it is currently in, and place
\r
979 it in the ready list. */
\r
980 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
982 /* The parameter cannot be NULL as it is impossible to resume the
\r
983 currently executing task. */
\r
984 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
986 portENTER_CRITICAL();
\r
988 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
990 traceTASK_RESUME( pxTCB );
\r
992 /* As we are in a critical section we can access the ready
\r
993 lists even if the scheduler is suspended. */
\r
994 vListRemove( &( pxTCB->xGenericListItem ) );
\r
995 prvAddTaskToReadyQueue( pxTCB );
\r
997 /* We may have just resumed a higher priority task. */
\r
998 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1000 /* This yield may not cause the task just resumed to run, but
\r
1001 will leave the lists in the correct state for the next yield. */
\r
1002 portYIELD_WITHIN_API();
\r
1006 portEXIT_CRITICAL();
\r
1012 /*-----------------------------------------------------------*/
\r
1014 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1016 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
1018 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1021 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1023 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1025 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1027 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1029 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1030 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1031 prvAddTaskToReadyQueue( pxTCB );
\r
1035 /* We cannot access the delayed or ready lists, so will hold this
\r
1036 task pending until the scheduler is resumed, at which point a
\r
1037 yield will be performed if necessary. */
\r
1038 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1042 return xYieldRequired;
\r
1050 /*-----------------------------------------------------------
\r
1051 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1052 *----------------------------------------------------------*/
\r
1055 void vTaskStartScheduler( void )
\r
1057 portBASE_TYPE xReturn;
\r
1059 /* Add the idle task at the lowest priority. */
\r
1060 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), ( xTaskHandle * ) NULL );
\r
1062 if( xReturn == pdPASS )
\r
1064 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1065 before or during the call to xPortStartScheduler(). The stacks of
\r
1066 the created tasks contain a status word with interrupts switched on
\r
1067 so interrupts will automatically get re-enabled when the first task
\r
1070 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1071 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1072 portDISABLE_INTERRUPTS();
\r
1074 xSchedulerRunning = pdTRUE;
\r
1075 xTickCount = ( portTickType ) 0;
\r
1077 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1078 macro must be defined to configure the timer/counter used to generate
\r
1079 the run time counter time base. */
\r
1080 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1082 /* Setting up the timer tick is hardware specific and thus in the
\r
1083 portable interface. */
\r
1084 if( xPortStartScheduler() )
\r
1086 /* Should not reach here as if the scheduler is running the
\r
1087 function will not return. */
\r
1091 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1095 /*-----------------------------------------------------------*/
\r
1097 void vTaskEndScheduler( void )
\r
1099 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1100 routine so the original ISRs can be restored if necessary. The port
\r
1101 layer must ensure interrupts enable bit is left in the correct state. */
\r
1102 portDISABLE_INTERRUPTS();
\r
1103 xSchedulerRunning = pdFALSE;
\r
1104 vPortEndScheduler();
\r
1106 /*----------------------------------------------------------*/
\r
1108 void vTaskSuspendAll( void )
\r
1110 /* A critical section is not required as the variable is of type
\r
1112 ++uxSchedulerSuspended;
\r
1114 /*----------------------------------------------------------*/
\r
1116 signed portBASE_TYPE xTaskResumeAll( void )
\r
1118 register tskTCB *pxTCB;
\r
1119 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1121 /* It is possible that an ISR caused a task to be removed from an event
\r
1122 list while the scheduler was suspended. If this was the case then the
\r
1123 removed task will have been added to the xPendingReadyList. Once the
\r
1124 scheduler has been resumed it is safe to move all the pending ready
\r
1125 tasks from this list into their appropriate ready list. */
\r
1126 portENTER_CRITICAL();
\r
1128 --uxSchedulerSuspended;
\r
1130 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1132 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
\r
1134 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1136 /* Move any readied tasks from the pending list into the
\r
1137 appropriate ready list. */
\r
1138 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1140 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1141 vListRemove( &( pxTCB->xEventListItem ) );
\r
1142 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1143 prvAddTaskToReadyQueue( pxTCB );
\r
1145 /* If we have moved a task that has a priority higher than
\r
1146 the current task then we should yield. */
\r
1147 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1149 xYieldRequired = pdTRUE;
\r
1153 /* If any ticks occurred while the scheduler was suspended then
\r
1154 they should be processed now. This ensures the tick count does not
\r
1155 slip, and that any delayed tasks are resumed at the correct time. */
\r
1156 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1158 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1160 vTaskIncrementTick();
\r
1164 /* As we have processed some ticks it is appropriate to yield
\r
1165 to ensure the highest priority task that is ready to run is
\r
1166 the task actually running. */
\r
1167 #if configUSE_PREEMPTION == 1
\r
1169 xYieldRequired = pdTRUE;
\r
1174 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1176 xAlreadyYielded = pdTRUE;
\r
1177 xMissedYield = pdFALSE;
\r
1178 portYIELD_WITHIN_API();
\r
1183 portEXIT_CRITICAL();
\r
1185 return xAlreadyYielded;
\r
1193 /*-----------------------------------------------------------
\r
1194 * PUBLIC TASK UTILITIES documented in task.h
\r
1195 *----------------------------------------------------------*/
\r
1199 portTickType xTaskGetTickCount( void )
\r
1201 portTickType xTicks;
\r
1203 /* Critical section required if running on a 16 bit processor. */
\r
1204 portENTER_CRITICAL();
\r
1206 xTicks = xTickCount;
\r
1208 portEXIT_CRITICAL();
\r
1212 /*-----------------------------------------------------------*/
\r
1214 portTickType xTaskGetTickCountFromISR( void )
\r
1216 return xTickCount;
\r
1218 /*-----------------------------------------------------------*/
\r
1220 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1222 /* A critical section is not required because the variables are of type
\r
1224 return uxCurrentNumberOfTasks;
\r
1226 /*-----------------------------------------------------------*/
\r
1228 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1230 void vTaskList( signed char *pcWriteBuffer )
\r
1232 unsigned portBASE_TYPE uxQueue;
\r
1234 /* This is a VERY costly function that should be used for debug only.
\r
1235 It leaves interrupts disabled for a LONG time. */
\r
1237 vTaskSuspendAll();
\r
1239 /* Run through all the lists that could potentially contain a TCB and
\r
1240 report the task name, state and stack high water mark. */
\r
1242 pcWriteBuffer[ 0 ] = ( signed char ) 0x00;
\r
1243 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1245 uxQueue = uxTopUsedPriority + 1;
\r
1251 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1253 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1255 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1257 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1259 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1262 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1264 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1267 #if( INCLUDE_vTaskDelete == 1 )
\r
1269 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1271 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1276 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1278 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1280 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1289 /*----------------------------------------------------------*/
\r
1291 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1293 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1295 unsigned portBASE_TYPE uxQueue;
\r
1296 unsigned long ulTotalRunTime;
\r
1298 /* This is a VERY costly function that should be used for debug only.
\r
1299 It leaves interrupts disabled for a LONG time. */
\r
1301 vTaskSuspendAll();
\r
1303 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1304 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1306 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1309 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1310 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1311 ulTotalRunTime /= 100UL;
\r
1313 /* Run through all the lists that could potentially contain a TCB,
\r
1314 generating a table of run timer percentages in the provided
\r
1317 pcWriteBuffer[ 0 ] = ( signed char ) 0x00;
\r
1318 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1320 uxQueue = uxTopUsedPriority + 1;
\r
1326 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1328 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
\r
1330 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1332 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1334 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
\r
1337 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1339 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
\r
1342 #if ( INCLUDE_vTaskDelete == 1 )
\r
1344 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1346 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, ulTotalRunTime );
\r
1351 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1353 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1355 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, ulTotalRunTime );
\r
1364 /*----------------------------------------------------------*/
\r
1366 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1368 void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize )
\r
1370 portENTER_CRITICAL();
\r
1372 pcTraceBuffer = ( signed char * )pcBuffer;
\r
1373 pcTraceBufferStart = pcBuffer;
\r
1374 pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
\r
1375 xTracing = pdTRUE;
\r
1377 portEXIT_CRITICAL();
\r
1381 /*----------------------------------------------------------*/
\r
1383 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1385 unsigned long ulTaskEndTrace( void )
\r
1387 unsigned long ulBufferLength;
\r
1389 portENTER_CRITICAL();
\r
1390 xTracing = pdFALSE;
\r
1391 portEXIT_CRITICAL();
\r
1393 ulBufferLength = ( unsigned long ) ( pcTraceBuffer - pcTraceBufferStart );
\r
1395 return ulBufferLength;
\r
1402 /*-----------------------------------------------------------
\r
1403 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1404 * documented in task.h
\r
1405 *----------------------------------------------------------*/
\r
1408 void vTaskIncrementTick( void )
\r
1410 /* Called by the portable layer each time a tick interrupt occurs.
\r
1411 Increments the tick then checks to see if the new tick value will cause any
\r
1412 tasks to be unblocked. */
\r
1413 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1416 if( xTickCount == ( portTickType ) 0 )
\r
1420 /* Tick count has overflowed so we need to swap the delay lists.
\r
1421 If there are any items in pxDelayedTaskList here then there is
\r
1423 pxTemp = pxDelayedTaskList;
\r
1424 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1425 pxOverflowDelayedTaskList = pxTemp;
\r
1426 xNumOfOverflows++;
\r
1427 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1429 /* The delayed list is empty. Set xNextTaskUnblockTime to the
\r
1430 maximum possible value so it is extremely unlikely that the
\r
1431 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1432 until there is an item in the delayed list. */
\r
1433 xNextTaskUnblockTime = portMAX_DELAY;
\r
1439 /* The delayed list is not empty, get the value of the item at
\r
1440 the head of the delayed list. This is the time at which the
\r
1441 task at the head of the delayed list should be removed from
\r
1442 the Blocked state. */
\r
1443 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1444 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1448 /* See if this tick has made a timeout expire. */
\r
1449 prvCheckDelayedTasks();
\r
1455 /* The tick hook gets called at regular intervals, even if the
\r
1456 scheduler is locked. */
\r
1457 #if ( configUSE_TICK_HOOK == 1 )
\r
1459 extern void vApplicationTickHook( void );
\r
1461 vApplicationTickHook();
\r
1466 #if ( configUSE_TICK_HOOK == 1 )
\r
1468 extern void vApplicationTickHook( void );
\r
1470 /* Guard against the tick hook being called when the missed tick
\r
1471 count is being unwound (when the scheduler is being unlocked. */
\r
1472 if( uxMissedTicks == 0 )
\r
1474 vApplicationTickHook();
\r
1479 traceTASK_INCREMENT_TICK( xTickCount );
\r
1481 /*-----------------------------------------------------------*/
\r
1483 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1485 void vTaskCleanUpResources( void )
\r
1487 unsigned short usQueue;
\r
1488 volatile tskTCB *pxTCB;
\r
1490 usQueue = ( unsigned short ) uxTopUsedPriority + ( unsigned short ) 1;
\r
1492 /* Remove any TCB's from the ready queues. */
\r
1497 while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
\r
1499 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
\r
1500 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1502 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1504 }while( usQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1506 /* Remove any TCB's from the delayed queue. */
\r
1507 while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
\r
1509 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
\r
1510 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1512 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1515 /* Remove any TCB's from the overflow delayed queue. */
\r
1516 while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
\r
1518 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
\r
1519 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1521 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1524 while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1526 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
\r
1527 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1529 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1534 /*-----------------------------------------------------------*/
\r
1536 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1538 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue )
\r
1542 /* If xTask is NULL then we are setting our own task hook. */
\r
1543 if( xTask == NULL )
\r
1545 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1549 xTCB = ( tskTCB * ) xTask;
\r
1552 /* Save the hook function in the TCB. A critical section is required as
\r
1553 the value can be accessed from an interrupt. */
\r
1554 portENTER_CRITICAL();
\r
1555 xTCB->pxTaskTag = pxTagValue;
\r
1556 portEXIT_CRITICAL();
\r
1560 /*-----------------------------------------------------------*/
\r
1562 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1564 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1567 pdTASK_HOOK_CODE xReturn;
\r
1569 /* If xTask is NULL then we are setting our own task hook. */
\r
1570 if( xTask == NULL )
\r
1572 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1576 xTCB = ( tskTCB * ) xTask;
\r
1579 /* Save the hook function in the TCB. A critical section is required as
\r
1580 the value can be accessed from an interrupt. */
\r
1581 portENTER_CRITICAL();
\r
1582 xReturn = xTCB->pxTaskTag;
\r
1583 portEXIT_CRITICAL();
\r
1589 /*-----------------------------------------------------------*/
\r
1591 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1593 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1596 portBASE_TYPE xReturn;
\r
1598 /* If xTask is NULL then we are calling our own task hook. */
\r
1599 if( xTask == NULL )
\r
1601 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1605 xTCB = ( tskTCB * ) xTask;
\r
1608 if( xTCB->pxTaskTag != NULL )
\r
1610 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1621 /*-----------------------------------------------------------*/
\r
1623 void vTaskSwitchContext( void )
\r
1625 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1627 /* The scheduler is currently suspended - do not allow a context
\r
1629 xMissedYield = pdTRUE;
\r
1633 traceTASK_SWITCHED_OUT();
\r
1635 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1637 unsigned long ulTempCounter;
\r
1639 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1640 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter );
\r
1642 ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
\r
1645 /* Add the amount of time the task has been running to the accumulated
\r
1646 time so far. The time the task started running was stored in
\r
1647 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1648 so count values are only valid until the timer overflows. Generally
\r
1649 this will be about 1 hour assuming a 1uS timer increment. */
\r
1650 pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
\r
1651 ulTaskSwitchedInTime = ulTempCounter;
\r
1655 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1656 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1658 /* Find the highest priority queue that contains ready tasks. */
\r
1659 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1661 --uxTopReadyPriority;
\r
1664 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1665 same priority get an equal share of the processor time. */
\r
1666 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1668 traceTASK_SWITCHED_IN();
\r
1669 vWriteTraceToBuffer();
\r
1671 /*-----------------------------------------------------------*/
\r
1673 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1675 portTickType xTimeToWake;
\r
1677 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1678 SCHEDULER SUSPENDED. */
\r
1680 /* Place the event list item of the TCB in the appropriate event list.
\r
1681 This is placed in the list in priority order so the highest priority task
\r
1682 is the first to be woken by the event. */
\r
1683 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1685 /* We must remove ourselves from the ready list before adding ourselves
\r
1686 to the blocked list as the same list item is used for both lists. We have
\r
1687 exclusive access to the ready lists as the scheduler is locked. */
\r
1688 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1691 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1693 if( xTicksToWait == portMAX_DELAY )
\r
1695 /* Add ourselves to the suspended task list instead of a delayed task
\r
1696 list to ensure we are not woken by a timing event. We will block
\r
1698 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1702 /* Calculate the time at which the task should be woken if the event does
\r
1703 not occur. This may overflow but this doesn't matter. */
\r
1704 xTimeToWake = xTickCount + xTicksToWait;
\r
1705 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1710 /* Calculate the time at which the task should be woken if the event does
\r
1711 not occur. This may overflow but this doesn't matter. */
\r
1712 xTimeToWake = xTickCount + xTicksToWait;
\r
1713 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1717 /*-----------------------------------------------------------*/
\r
1719 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1721 tskTCB *pxUnblockedTCB;
\r
1722 portBASE_TYPE xReturn;
\r
1724 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1725 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1727 /* The event list is sorted in priority order, so we can remove the
\r
1728 first in the list, remove the TCB from the delayed list, and add
\r
1729 it to the ready list.
\r
1731 If an event is for a queue that is locked then this function will never
\r
1732 get called - the lock count on the queue will get modified instead. This
\r
1733 means we can always expect exclusive access to the event list here.
\r
1735 This function assumes that a check has already been made to ensure that
\r
1736 pxEventList is not empty. */
\r
1737 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1738 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1740 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1742 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1743 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1747 /* We cannot access the delayed or ready lists, so will hold this
\r
1748 task pending until the scheduler is resumed. */
\r
1749 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1752 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1754 /* Return true if the task removed from the event list has
\r
1755 a higher priority than the calling task. This allows
\r
1756 the calling task to know if it should force a context
\r
1762 xReturn = pdFALSE;
\r
1767 /*-----------------------------------------------------------*/
\r
1769 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1771 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1772 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1774 /*-----------------------------------------------------------*/
\r
1776 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1778 portBASE_TYPE xReturn;
\r
1780 portENTER_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 portEXIT_CRITICAL();
\r
1817 /*-----------------------------------------------------------*/
\r
1819 void vTaskMissedYield( void )
\r
1821 xMissedYield = pdTRUE;
\r
1825 * -----------------------------------------------------------
\r
1827 * ----------------------------------------------------------
\r
1829 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1830 * language extensions. The equivalent prototype for this function is:
\r
1832 * void prvIdleTask( void *pvParameters );
\r
1835 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1837 /* Stop warnings. */
\r
1838 ( void ) pvParameters;
\r
1842 /* See if any tasks have been deleted. */
\r
1843 prvCheckTasksWaitingTermination();
\r
1845 #if ( configUSE_PREEMPTION == 0 )
\r
1847 /* If we are not using preemption we keep forcing a task switch to
\r
1848 see if any other task has become available. If we are using
\r
1849 preemption we don't need to do this as any task becoming available
\r
1850 will automatically get the processor anyway. */
\r
1855 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1857 /* When using preemption tasks of equal priority will be
\r
1858 timesliced. If a task that is sharing the idle priority is ready
\r
1859 to run then the idle task should yield before the end of the
\r
1862 A critical region is not required here as we are just reading from
\r
1863 the list, and an occasional incorrect value will not matter. If
\r
1864 the ready list at the idle priority contains more than one task
\r
1865 then a task other than the idle task is ready to execute. */
\r
1866 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1873 #if ( configUSE_IDLE_HOOK == 1 )
\r
1875 extern void vApplicationIdleHook( void );
\r
1877 /* Call the user defined function from within the idle task. This
\r
1878 allows the application designer to add background functionality
\r
1879 without the overhead of a separate task.
\r
1880 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1881 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1882 vApplicationIdleHook();
\r
1886 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1894 /*-----------------------------------------------------------
\r
1895 * File private functions documented at the top of the file.
\r
1896 *----------------------------------------------------------*/
\r
1900 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
1902 /* Store the function name in the TCB. */
\r
1903 #if configMAX_TASK_NAME_LEN > 1
\r
1905 /* Don't bring strncpy into the build unnecessarily. */
\r
1906 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
1909 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = '\0';
\r
1911 /* This is used as an array index so must ensure it's not too large. First
\r
1912 remove the privilege bit if one is present. */
\r
1913 if( uxPriority >= configMAX_PRIORITIES )
\r
1915 uxPriority = configMAX_PRIORITIES - 1;
\r
1918 pxTCB->uxPriority = uxPriority;
\r
1919 #if ( configUSE_MUTEXES == 1 )
\r
1921 pxTCB->uxBasePriority = uxPriority;
\r
1925 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
1926 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
1928 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
1929 back to the containing TCB from a generic item in a list. */
\r
1930 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
1932 /* Event lists are always in priority order. */
\r
1933 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
1934 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
1936 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
1938 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
\r
1942 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1944 pxTCB->pxTaskTag = NULL;
\r
1948 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1950 pxTCB->ulRunTimeCounter = 0UL;
\r
1954 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
1956 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
1960 ( void ) xRegions;
\r
1961 ( void ) usStackDepth;
\r
1965 /*-----------------------------------------------------------*/
\r
1967 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
1969 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
1973 if( xTaskToModify == pxCurrentTCB )
\r
1975 xTaskToModify = NULL;
\r
1978 /* If null is passed in here then we are deleting ourselves. */
\r
1979 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
1981 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
1983 /*-----------------------------------------------------------*/
\r
1986 static void prvInitialiseTaskLists( void )
\r
1988 unsigned portBASE_TYPE uxPriority;
\r
1990 for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
1992 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
1995 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
1996 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
1997 vListInitialise( ( xList * ) &xPendingReadyList );
\r
1999 #if ( INCLUDE_vTaskDelete == 1 )
\r
2001 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2005 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2007 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2011 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2013 pxDelayedTaskList = &xDelayedTaskList1;
\r
2014 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2016 /*-----------------------------------------------------------*/
\r
2018 static void prvCheckTasksWaitingTermination( void )
\r
2020 #if ( INCLUDE_vTaskDelete == 1 )
\r
2022 portBASE_TYPE xListIsEmpty;
\r
2024 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2025 too often in the idle task. */
\r
2026 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
\r
2028 vTaskSuspendAll();
\r
2029 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2032 if( xListIsEmpty == pdFALSE )
\r
2036 portENTER_CRITICAL();
\r
2038 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2039 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2040 --uxCurrentNumberOfTasks;
\r
2043 portEXIT_CRITICAL();
\r
2045 prvDeleteTCB( pxTCB );
\r
2051 /*-----------------------------------------------------------*/
\r
2053 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2055 /* The list item will be inserted in wake time order. */
\r
2056 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2058 if( xTimeToWake < xTickCount )
\r
2060 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2061 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2065 /* The wake time has not overflowed, so we can use the current block list. */
\r
2066 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2068 /* If the task entering the blocked state was placed at the head of the
\r
2069 list of blocked tasks then xNextTaskUnmblockTime needs to be updated
\r
2071 if( xTimeToWake < xNextTaskUnblockTime )
\r
2073 xNextTaskUnblockTime = xTimeToWake;
\r
2077 /*-----------------------------------------------------------*/
\r
2079 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2083 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2084 the implementation of the port malloc function. */
\r
2085 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2087 if( pxNewTCB != NULL )
\r
2089 /* Allocate space for the stack used by the task being created.
\r
2090 The base of the stack memory stored in the TCB so the task can
\r
2091 be deleted later if required. */
\r
2092 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2094 if( pxNewTCB->pxStack == NULL )
\r
2096 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2097 vPortFree( pxNewTCB );
\r
2102 /* Just to help debugging. */
\r
2103 memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2109 /*-----------------------------------------------------------*/
\r
2111 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2113 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2115 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2116 unsigned short usStackRemaining;
\r
2118 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2119 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2122 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2123 #if ( portSTACK_GROWTH > 0 )
\r
2125 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2129 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2133 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
2134 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2136 } while( pxNextTCB != pxFirstTCB );
\r
2140 /*-----------------------------------------------------------*/
\r
2142 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2144 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
\r
2146 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2147 unsigned long ulStatsAsPercentage;
\r
2149 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2150 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2153 /* Get next TCB in from the list. */
\r
2154 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2156 /* Divide by zero check. */
\r
2157 if( ulTotalRunTime > 0UL )
\r
2159 /* Has the task run at all? */
\r
2160 if( pxNextTCB->ulRunTimeCounter == 0 )
\r
2162 /* The task has used no CPU time at all. */
\r
2163 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2167 /* What percentage of the total run time has the task used?
\r
2168 This will always be rounded down to the nearest integer.
\r
2169 ulTotalRunTime has already been divided by 100. */
\r
2170 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime;
\r
2172 if( ulStatsAsPercentage > 0UL )
\r
2174 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2176 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2180 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2181 printf() library can be used. */
\r
2182 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2188 /* If the percentage is zero here then the task has
\r
2189 consumed less than 1% of the total run time. */
\r
2190 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2192 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2196 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2197 printf() library can be used. */
\r
2198 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2204 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2207 } while( pxNextTCB != pxFirstTCB );
\r
2211 /*-----------------------------------------------------------*/
\r
2213 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2215 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2217 register unsigned short usCount = 0;
\r
2219 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2221 pucStackByte -= portSTACK_GROWTH;
\r
2225 usCount /= sizeof( portSTACK_TYPE );
\r
2231 /*-----------------------------------------------------------*/
\r
2233 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2235 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2238 unsigned char *pcEndOfStack;
\r
2239 unsigned portBASE_TYPE uxReturn;
\r
2241 pxTCB = prvGetTCBFromHandle( xTask );
\r
2243 #if portSTACK_GROWTH < 0
\r
2245 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2249 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2253 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2259 /*-----------------------------------------------------------*/
\r
2261 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
\r
2263 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2265 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2266 the task to free any memory allocated at the application level. */
\r
2267 vPortFreeAligned( pxTCB->pxStack );
\r
2268 vPortFree( pxTCB );
\r
2274 /*-----------------------------------------------------------*/
\r
2276 #if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
\r
2278 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2280 xTaskHandle xReturn;
\r
2282 /* A critical section is not required as this is not called from
\r
2283 an interrupt and the current TCB will always be the same for any
\r
2284 individual execution thread. */
\r
2285 xReturn = pxCurrentTCB;
\r
2292 /*-----------------------------------------------------------*/
\r
2294 #if ( INCLUDE_xTaskGetSchedulerState == 1 )
\r
2296 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2298 portBASE_TYPE xReturn;
\r
2300 if( xSchedulerRunning == pdFALSE )
\r
2302 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2306 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2308 xReturn = taskSCHEDULER_RUNNING;
\r
2312 xReturn = taskSCHEDULER_SUSPENDED;
\r
2320 /*-----------------------------------------------------------*/
\r
2322 #if ( configUSE_MUTEXES == 1 )
\r
2324 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2326 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2328 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2330 /* Adjust the mutex holder state to account for its new priority. */
\r
2331 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2333 /* If the task being modified is in the ready state it will need to
\r
2334 be moved in to a new list. */
\r
2335 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
2337 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2339 /* Inherit the priority before being moved into the new list. */
\r
2340 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2341 prvAddTaskToReadyQueue( pxTCB );
\r
2345 /* Just inherit the priority. */
\r
2346 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2352 /*-----------------------------------------------------------*/
\r
2354 #if ( configUSE_MUTEXES == 1 )
\r
2356 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2358 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2360 if( pxMutexHolder != NULL )
\r
2362 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2364 /* We must be the running task to be able to give the mutex back.
\r
2365 Remove ourselves from the ready list we currently appear in. */
\r
2366 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2368 /* Disinherit the priority before adding ourselves into the new
\r
2370 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2371 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2372 prvAddTaskToReadyQueue( pxTCB );
\r
2378 /*-----------------------------------------------------------*/
\r
2380 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2382 void vTaskEnterCritical( void )
\r
2384 portDISABLE_INTERRUPTS();
\r
2386 if( xSchedulerRunning != pdFALSE )
\r
2388 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2393 /*-----------------------------------------------------------*/
\r
2395 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2397 void vTaskExitCritical( void )
\r
2399 if( xSchedulerRunning != pdFALSE )
\r
2401 if( pxCurrentTCB->uxCriticalNesting > 0 )
\r
2403 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2405 if( pxCurrentTCB->uxCriticalNesting == 0 )
\r
2407 portENABLE_INTERRUPTS();
\r
2414 /*-----------------------------------------------------------*/
\r
projects / freertos / blob