2 FreeRTOS.org V4.8.0 - Copyright (C) 2003-2008 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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27 ***************************************************************************
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29 * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
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30 * and even write all or part of your application on your behalf. *
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31 * See http://www.OpenRTOS.com for details of the services we provide to *
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32 * expedite your project. *
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34 ***************************************************************************
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35 ***************************************************************************
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37 Please ensure to read the configuration and relevant port sections of the
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38 online documentation.
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40 http://www.FreeRTOS.org - Documentation, latest information, license and
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43 http://www.SafeRTOS.com - A version that is certified for use in safety
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46 http://www.OpenRTOS.com - Commercial support, development, porting,
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47 licensing and training services.
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55 #include "FreeRTOS.h"
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59 * Macro to define the amount of stack available to the idle task.
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61 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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65 * Default a definitions for backwards compatibility with old
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66 * portmacro.h files.
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68 #ifndef configMAX_TASK_NAME_LEN
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69 #define configMAX_TASK_NAME_LEN 16
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72 #ifndef configIDLE_SHOULD_YIELD
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73 #define configIDLE_SHOULD_YIELD 1
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76 #if configMAX_TASK_NAME_LEN < 1
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77 #undef configMAX_TASK_NAME_LEN
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78 #define configMAX_TASK_NAME_LEN 1
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81 #ifndef INCLUDE_xTaskResumeFromISR
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82 #define INCLUDE_xTaskResumeFromISR 1
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85 #ifndef INCLUDE_xTaskGetSchedulerState
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86 #define INCLUDE_xTaskGetSchedulerState 0
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90 * Task control block. A task control block (TCB) is allocated to each task,
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91 * and stores the context of the task.
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93 typedef struct tskTaskControlBlock
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95 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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96 xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
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97 xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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98 unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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99 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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100 signed portCHAR pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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102 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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103 unsigned portBASE_TYPE uxCriticalNesting;
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106 #if ( configUSE_TRACE_FACILITY == 1 )
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107 unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
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110 #if ( configUSE_MUTEXES == 1 )
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111 unsigned portBASE_TYPE uxBasePriority;
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118 tskTCB * volatile pxCurrentTCB = NULL;
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120 /* Lists for ready and blocked tasks. --------------------*/
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122 static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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123 static xList xDelayedTaskList1; /*< Delayed tasks. */
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124 static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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125 static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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126 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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127 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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129 #if ( INCLUDE_vTaskDelete == 1 )
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131 static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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132 static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
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136 #if ( INCLUDE_vTaskSuspend == 1 )
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138 static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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142 /* File private variables. --------------------------------*/
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143 static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
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144 static volatile portTickType xTickCount = ( portTickType ) 0;
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145 static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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146 static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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147 static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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148 static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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149 static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
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150 static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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151 static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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152 /* Debugging and trace facilities private variables and macros. ------------*/
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155 * The value used to fill the stack of a task when the task is created. This
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156 * is used purely for checking the high water mark for tasks.
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158 #define tskSTACK_FILL_BYTE ( 0xa5 )
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161 * Macros used by vListTask to indicate which state a task is in.
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163 #define tskBLOCKED_CHAR ( ( signed portCHAR ) 'B' )
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164 #define tskREADY_CHAR ( ( signed portCHAR ) 'R' )
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165 #define tskDELETED_CHAR ( ( signed portCHAR ) 'D' )
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166 #define tskSUSPENDED_CHAR ( ( signed portCHAR ) 'S' )
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169 * Macros and private variables used by the trace facility.
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171 #if ( configUSE_TRACE_FACILITY == 1 )
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173 #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned portLONG ) ( sizeof( unsigned portLONG ) + sizeof( unsigned portLONG ) ) )
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174 static volatile signed portCHAR * volatile pcTraceBuffer;
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175 static signed portCHAR *pcTraceBufferStart;
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176 static signed portCHAR *pcTraceBufferEnd;
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177 static signed portBASE_TYPE xTracing = pdFALSE;
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181 /*-----------------------------------------------------------*/
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184 * Macro that writes a trace of scheduler activity to a buffer. This trace
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185 * shows which task is running when and is very useful as a debugging tool.
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186 * As this macro is called each context switch it is a good idea to undefine
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187 * it if not using the facility.
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189 #if ( configUSE_TRACE_FACILITY == 1 )
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191 #define vWriteTraceToBuffer() \
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195 static unsigned portBASE_TYPE uxPreviousTask = 255; \
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197 if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
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199 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
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201 uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
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202 *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) xTickCount; \
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203 pcTraceBuffer += sizeof( unsigned portLONG ); \
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204 *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) uxPreviousTask; \
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205 pcTraceBuffer += sizeof( unsigned portLONG ); \
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209 xTracing = pdFALSE; \
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217 #define vWriteTraceToBuffer()
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220 /*-----------------------------------------------------------*/
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223 * Place the task represented by pxTCB into the appropriate ready queue for
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224 * the task. It is inserted at the end of the list. One quirk of this is
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225 * that if the task being inserted is at the same priority as the currently
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226 * executing task, then it will only be rescheduled after the currently
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227 * executing task has been rescheduled.
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229 #define prvAddTaskToReadyQueue( pxTCB ) \
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231 if( pxTCB->uxPriority > uxTopReadyPriority ) \
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233 uxTopReadyPriority = pxTCB->uxPriority; \
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235 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \
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237 /*-----------------------------------------------------------*/
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240 * Macro that looks at the list of tasks that are currently delayed to see if
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241 * any require waking.
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243 * Tasks are stored in the queue in the order of their wake time - meaning
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244 * once one tasks has been found whose timer has not expired we need not look
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245 * any further down the list.
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247 #define prvCheckDelayedTasks() \
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249 register tskTCB *pxTCB; \
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251 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \
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253 if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \
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257 vListRemove( &( pxTCB->xGenericListItem ) ); \
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258 /* Is the task waiting on an event also? */ \
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259 if( pxTCB->xEventListItem.pvContainer ) \
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261 vListRemove( &( pxTCB->xEventListItem ) ); \
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263 prvAddTaskToReadyQueue( pxTCB ); \
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266 /*-----------------------------------------------------------*/
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269 * Call the stack overflow hook function if the stack of the task being swapped
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270 * out is currently overflowed, or looks like it might have overflowed in the
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273 * Setting configCHECK_FOR_STACK_OVERFLOW to 1 will cause the macro to check
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274 * the current stack state only - comparing the current top of stack value to
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275 * the stack limit. Setting configCHECK_FOR_STACK_OVERFLOW to greater than 1
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276 * will also cause the last few stack bytes to be checked to ensure the value
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277 * to which the bytes were set when the task was created have not been
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278 * overwritten. Note this second test does not guarantee that an overflowed
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279 * stack will always be recognised.
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282 #if( configCHECK_FOR_STACK_OVERFLOW == 0 )
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284 /* FreeRTOSConfig.h is not set to check for stack overflows. */
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285 #define taskCHECK_FOR_STACK_OVERFLOW()
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287 #endif /* configCHECK_FOR_STACK_OVERFLOW == 0 */
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289 #if( ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH >= 0 ) )
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291 /* This is an invalid setting. */
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292 #error configCHECK_FOR_STACK_OVERFLOW can only be set to a non zero value on architectures where the stack grows down from high memory.
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294 #endif /* ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH >= 0 ) */
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296 #if( configCHECK_FOR_STACK_OVERFLOW == 1 )
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298 /* Only the current stack state is to be checked. */
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299 #define taskCHECK_FOR_STACK_OVERFLOW() \
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301 extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName ); \
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303 /* Is the currently saved stack pointer within the stack limit? */ \
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304 if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \
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306 vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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310 #endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
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312 #if( configCHECK_FOR_STACK_OVERFLOW > 1 )
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314 /* Both the current statck state and the stack fill bytes are to be checked. */
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315 #define taskCHECK_FOR_STACK_OVERFLOW() \
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317 extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName ); \
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318 static const unsigned portCHAR ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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319 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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320 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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321 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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322 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \
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324 /* Is the currently saved stack pointer within the stack limit? */ \
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325 if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \
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327 vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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330 /* Has the extremity of the task stack ever been written over? */ \
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331 if( memcmp( ( void * ) pxCurrentTCB->pxStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \
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333 vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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337 #endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
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339 /*-----------------------------------------------------------*/
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342 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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343 * where NULL is used to indicate that the handle of the currently executing
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344 * task should be used in place of the parameter. This macro simply checks to
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345 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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347 #define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )
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350 /* File private functions. --------------------------------*/
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353 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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354 * into the TCB structure.
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356 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority );
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359 * Utility to ready all the lists used by the scheduler. This is called
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360 * automatically upon the creation of the first task.
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362 static void prvInitialiseTaskLists( void );
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365 * The idle task, which as all tasks is implemented as a never ending loop.
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366 * The idle task is automatically created and added to the ready lists upon
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367 * creation of the first user task.
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369 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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370 * language extensions. The equivalent prototype for this function is:
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372 * void prvIdleTask( void *pvParameters );
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375 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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378 * Utility to free all memory allocated by the scheduler to hold a TCB,
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379 * including the stack pointed to by the TCB.
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381 * This does not free memory allocated by the task itself (i.e. memory
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382 * allocated by calls to pvPortMalloc from within the tasks application code).
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384 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
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385 static void prvDeleteTCB( tskTCB *pxTCB );
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389 * Used only by the idle task. This checks to see if anything has been placed
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390 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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391 * and its TCB deleted.
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393 static void prvCheckTasksWaitingTermination( void );
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396 * Allocates memory from the heap for a TCB and associated stack. Checks the
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397 * allocation was successful.
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399 static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );
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402 * Called from vTaskList. vListTasks details all the tasks currently under
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403 * control of the scheduler. The tasks may be in one of a number of lists.
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404 * prvListTaskWithinSingleList accepts a list and details the tasks from
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405 * within just that list.
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407 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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408 * NORMAL APPLICATION CODE.
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410 #if ( configUSE_TRACE_FACILITY == 1 )
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412 static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus );
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417 * When a task is created, the stack of the task is filled with a known value.
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418 * This function determines the 'high water mark' of the task stack by
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419 * determining how much of the stack remains at the original preset value.
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421 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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423 unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte );
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428 * Checks that a task being resumed (unsuspended) is actually in the Suspended
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431 #if ( INCLUDE_vTaskSuspend == 1 )
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433 static portBASE_TYPE prvIsTaskSuspended( const tskTCB * const pxTCB );
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441 /*-----------------------------------------------------------
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442 * TASK CREATION API documented in task.h
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443 *----------------------------------------------------------*/
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445 signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask )
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447 signed portBASE_TYPE xReturn;
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449 #if ( configUSE_TRACE_FACILITY == 1 )
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450 static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberate - this is guarded before use. */
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453 /* Allocate the memory required by the TCB and stack for the new task.
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454 checking that the allocation was successful. */
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455 pxNewTCB = prvAllocateTCBAndStack( usStackDepth );
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457 if( pxNewTCB != NULL )
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459 portSTACK_TYPE *pxTopOfStack;
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461 /* Setup the newly allocated TCB with the initial state of the task. */
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462 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority );
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464 /* Calculate the top of stack address. This depends on whether the
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465 stack grows from high memory to low (as per the 80x86) or visa versa.
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466 portSTACK_GROWTH is used to make the result positive or negative as
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467 required by the port. */
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468 #if portSTACK_GROWTH < 0
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470 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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474 pxTopOfStack = pxNewTCB->pxStack;
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478 /* Initialize the TCB stack to look as if the task was already running,
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479 but had been interrupted by the scheduler. The return address is set
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480 to the start of the task function. Once the stack has been initialised
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481 the top of stack variable is updated. */
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482 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pvTaskCode, pvParameters );
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484 /* We are going to manipulate the task queues to add this task to a
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485 ready list, so must make sure no interrupts occur. */
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486 portENTER_CRITICAL();
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488 uxCurrentNumberOfTasks++;
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489 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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491 /* As this is the first task it must also be the current task. */
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492 pxCurrentTCB = pxNewTCB;
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494 /* This is the first task to be created so do the preliminary
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495 initialisation required. We will not recover if this call
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496 fails, but we will report the failure. */
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497 prvInitialiseTaskLists();
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501 /* If the scheduler is not already running, make this task the
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502 current task if it is the highest priority task to be created
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504 if( xSchedulerRunning == pdFALSE )
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506 if( pxCurrentTCB->uxPriority <= uxPriority )
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508 pxCurrentTCB = pxNewTCB;
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513 /* Remember the top priority to make context switching faster. Use
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514 the priority in pxNewTCB as this has been capped to a valid value. */
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515 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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517 uxTopUsedPriority = pxNewTCB->uxPriority;
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520 #if ( configUSE_TRACE_FACILITY == 1 )
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522 /* Add a counter into the TCB for tracing only. */
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523 pxNewTCB->uxTCBNumber = uxTaskNumber;
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528 prvAddTaskToReadyQueue( pxNewTCB );
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531 traceTASK_CREATE( pxNewTCB );
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533 portEXIT_CRITICAL();
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537 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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538 traceTASK_CREATE_FAILED( pxNewTCB );
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541 if( xReturn == pdPASS )
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543 if( ( void * ) pxCreatedTask != NULL )
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545 /* Pass the TCB out - in an anonymous way. The calling function/
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546 task can use this as a handle to delete the task later if
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548 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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551 if( xSchedulerRunning != pdFALSE )
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553 /* If the created task is of a higher priority than the current task
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554 then it should run now. */
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555 if( pxCurrentTCB->uxPriority < uxPriority )
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564 /*-----------------------------------------------------------*/
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566 #if ( INCLUDE_vTaskDelete == 1 )
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568 void vTaskDelete( xTaskHandle pxTaskToDelete )
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572 taskENTER_CRITICAL();
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574 /* Ensure a yield is performed if the current task is being
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576 if( pxTaskToDelete == pxCurrentTCB )
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578 pxTaskToDelete = NULL;
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581 /* If null is passed in here then we are deleting ourselves. */
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582 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
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584 traceTASK_DELETE( pxTCB );
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586 /* Remove task from the ready list and place in the termination list.
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587 This will stop the task from be scheduled. The idle task will check
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588 the termination list and free up any memory allocated by the
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589 scheduler for the TCB and stack. */
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590 vListRemove( &( pxTCB->xGenericListItem ) );
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592 /* Is the task waiting on an event also? */
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593 if( pxTCB->xEventListItem.pvContainer )
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595 vListRemove( &( pxTCB->xEventListItem ) );
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598 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
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600 /* Increment the ucTasksDeleted variable so the idle task knows
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601 there is a task that has been deleted and that it should therefore
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602 check the xTasksWaitingTermination list. */
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605 taskEXIT_CRITICAL();
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607 /* Force a reschedule if we have just deleted the current task. */
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608 if( xSchedulerRunning != pdFALSE )
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610 if( ( void * ) pxTaskToDelete == NULL )
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624 /*-----------------------------------------------------------
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625 * TASK CONTROL API documented in task.h
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626 *----------------------------------------------------------*/
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628 #if ( INCLUDE_vTaskDelayUntil == 1 )
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630 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
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632 portTickType xTimeToWake;
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633 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
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637 /* Generate the tick time at which the task wants to wake. */
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638 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
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640 if( xTickCount < *pxPreviousWakeTime )
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642 /* The tick count has overflowed since this function was
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643 lasted called. In this case the only time we should ever
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644 actually delay is if the wake time has also overflowed,
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645 and the wake time is greater than the tick time. When this
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646 is the case it is as if neither time had overflowed. */
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647 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
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649 xShouldDelay = pdTRUE;
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654 /* The tick time has not overflowed. In this case we will
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655 delay if either the wake time has overflowed, and/or the
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656 tick time is less than the wake time. */
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657 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
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659 xShouldDelay = pdTRUE;
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663 /* Update the wake time ready for the next call. */
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664 *pxPreviousWakeTime = xTimeToWake;
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668 traceTASK_DELAY_UNTIL();
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670 /* We must remove ourselves from the ready list before adding
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671 ourselves to the blocked list as the same list item is used for
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673 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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675 /* The list item will be inserted in wake time order. */
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676 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
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678 if( xTimeToWake < xTickCount )
\r
680 /* Wake time has overflowed. Place this item in the
\r
682 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
686 /* The wake time has not overflowed, so we can use the
\r
687 current block list. */
\r
688 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
692 xAlreadyYielded = xTaskResumeAll();
\r
694 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
695 have put ourselves to sleep. */
\r
696 if( !xAlreadyYielded )
\r
703 /*-----------------------------------------------------------*/
\r
705 #if ( INCLUDE_vTaskDelay == 1 )
\r
707 void vTaskDelay( portTickType xTicksToDelay )
\r
709 portTickType xTimeToWake;
\r
710 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
712 /* A delay time of zero just forces a reschedule. */
\r
713 if( xTicksToDelay > ( portTickType ) 0 )
\r
719 /* A task that is removed from the event list while the
\r
720 scheduler is suspended will not get placed in the ready
\r
721 list or removed from the blocked list until the scheduler
\r
724 This task cannot be in an event list as it is the currently
\r
727 /* Calculate the time to wake - this may overflow but this is
\r
729 xTimeToWake = xTickCount + xTicksToDelay;
\r
731 /* We must remove ourselves from the ready list before adding
\r
732 ourselves to the blocked list as the same list item is used for
\r
734 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
736 /* The list item will be inserted in wake time order. */
\r
737 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
739 if( xTimeToWake < xTickCount )
\r
741 /* Wake time has overflowed. Place this item in the
\r
743 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
747 /* The wake time has not overflowed, so we can use the
\r
748 current block list. */
\r
749 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
752 xAlreadyYielded = xTaskResumeAll();
\r
755 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
756 have put ourselves to sleep. */
\r
757 if( !xAlreadyYielded )
\r
764 /*-----------------------------------------------------------*/
\r
766 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
768 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
771 unsigned portBASE_TYPE uxReturn;
\r
773 taskENTER_CRITICAL();
\r
775 /* If null is passed in here then we are changing the
\r
776 priority of the calling function. */
\r
777 pxTCB = prvGetTCBFromHandle( pxTask );
\r
778 uxReturn = pxTCB->uxPriority;
\r
780 taskEXIT_CRITICAL();
\r
786 /*-----------------------------------------------------------*/
\r
788 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
790 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
793 unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
\r
795 /* Ensure the new priority is valid. */
\r
796 if( uxNewPriority >= configMAX_PRIORITIES )
\r
798 uxNewPriority = configMAX_PRIORITIES - 1;
\r
801 taskENTER_CRITICAL();
\r
803 /* If null is passed in here then we are changing the
\r
804 priority of the calling function. */
\r
805 pxTCB = prvGetTCBFromHandle( pxTask );
\r
807 traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
\r
809 #if ( configUSE_MUTEXES == 1 )
\r
811 uxCurrentPriority = pxTCB->uxBasePriority;
\r
815 uxCurrentPriority = pxTCB->uxPriority;
\r
819 if( uxCurrentPriority != uxNewPriority )
\r
821 /* The priority change may have readied a task of higher
\r
822 priority than the calling task. */
\r
823 if( uxNewPriority > uxCurrentPriority )
\r
825 if( pxTask != NULL )
\r
827 /* The priority of another task is being raised. If we
\r
828 were raising the priority of the currently running task
\r
829 there would be no need to switch as it must have already
\r
830 been the highest priority task. */
\r
831 xYieldRequired = pdTRUE;
\r
834 else if( pxTask == NULL )
\r
836 /* Setting our own priority down means there may now be another
\r
837 task of higher priority that is ready to execute. */
\r
838 xYieldRequired = pdTRUE;
\r
843 #if ( configUSE_MUTEXES == 1 )
\r
845 /* Only change the priority being used if the task is not
\r
846 currently using an inherited priority. */
\r
847 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
849 pxTCB->uxPriority = uxNewPriority;
\r
852 /* The base priority gets set whatever. */
\r
853 pxTCB->uxBasePriority = uxNewPriority;
\r
857 pxTCB->uxPriority = uxNewPriority;
\r
861 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
863 /* If the task is in the blocked or suspended list we need do
\r
864 nothing more than change it's priority variable. However, if
\r
865 the task is in a ready list it needs to be removed and placed
\r
866 in the queue appropriate to its new priority. */
\r
867 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
869 /* The task is currently in its ready list - remove before adding
\r
870 it to it's new ready list. As we are in a critical section we
\r
871 can do this even if the scheduler is suspended. */
\r
872 vListRemove( &( pxTCB->xGenericListItem ) );
\r
873 prvAddTaskToReadyQueue( pxTCB );
\r
876 if( xYieldRequired == pdTRUE )
\r
882 taskEXIT_CRITICAL();
\r
886 /*-----------------------------------------------------------*/
\r
888 #if ( INCLUDE_vTaskSuspend == 1 )
\r
890 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
894 taskENTER_CRITICAL();
\r
896 /* Ensure a yield is performed if the current task is being
\r
898 if( pxTaskToSuspend == pxCurrentTCB )
\r
900 pxTaskToSuspend = NULL;
\r
903 /* If null is passed in here then we are suspending ourselves. */
\r
904 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
906 traceTASK_SUSPEND( pxTaskToSuspend );
\r
908 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
909 vListRemove( &( pxTCB->xGenericListItem ) );
\r
911 /* Is the task waiting on an event also? */
\r
912 if( pxTCB->xEventListItem.pvContainer )
\r
914 vListRemove( &( pxTCB->xEventListItem ) );
\r
917 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
919 taskEXIT_CRITICAL();
\r
921 /* We may have just suspended the current task. */
\r
922 if( ( void * ) pxTaskToSuspend == NULL )
\r
929 /*-----------------------------------------------------------*/
\r
931 #if ( INCLUDE_vTaskSuspend == 1 )
\r
933 static portBASE_TYPE prvIsTaskSuspended( const tskTCB * const pxTCB )
\r
935 portBASE_TYPE xReturn = pdFALSE;
\r
937 /* Is the task we are attempting to resume actually in the
\r
939 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
941 /* Has the task already been resumed from within an ISR? */
\r
942 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
944 /* Is it in the suspended list because it is in the
\r
945 Suspended state? It is possible to be in the suspended
\r
946 list because it is blocked on a task with no timeout
\r
948 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
959 /*-----------------------------------------------------------*/
\r
961 #if ( INCLUDE_vTaskSuspend == 1 )
\r
963 void vTaskResume( xTaskHandle pxTaskToResume )
\r
967 /* Remove the task from whichever list it is currently in, and place
\r
968 it in the ready list. */
\r
969 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
971 /* The parameter cannot be NULL as it is impossible to resume the
\r
972 currently executing task. */
\r
973 if( pxTCB != NULL )
\r
975 taskENTER_CRITICAL();
\r
977 if( prvIsTaskSuspended( pxTCB ) == pdTRUE )
\r
979 traceTASK_RESUME( pxTCB );
\r
981 /* As we are in a critical section we can access the ready
\r
982 lists even if the scheduler is suspended. */
\r
983 vListRemove( &( pxTCB->xGenericListItem ) );
\r
984 prvAddTaskToReadyQueue( pxTCB );
\r
986 /* We may have just resumed a higher priority task. */
\r
987 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
989 /* This yield may not cause the task just resumed to run, but
\r
990 will leave the lists in the correct state for the next yield. */
\r
995 taskEXIT_CRITICAL();
\r
1001 /*-----------------------------------------------------------*/
\r
1003 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1005 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
1007 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1010 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1012 if( prvIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1014 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1016 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1018 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1019 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1020 prvAddTaskToReadyQueue( pxTCB );
\r
1024 /* We cannot access the delayed or ready lists, so will hold this
\r
1025 task pending until the scheduler is resumed, at which point a
\r
1026 yield will be performed if necessary. */
\r
1027 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1031 return xYieldRequired;
\r
1039 /*-----------------------------------------------------------
\r
1040 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1041 *----------------------------------------------------------*/
\r
1044 void vTaskStartScheduler( void )
\r
1046 portBASE_TYPE xReturn;
\r
1048 /* Add the idle task at the lowest priority. */
\r
1049 xReturn = xTaskCreate( prvIdleTask, ( signed portCHAR * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
\r
1051 if( xReturn == pdPASS )
\r
1053 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1054 before or during the call to xPortStartScheduler(). The stacks of
\r
1055 the created tasks contain a status word with interrupts switched on
\r
1056 so interrupts will automatically get re-enabled when the first task
\r
1059 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1060 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1061 portDISABLE_INTERRUPTS();
\r
1063 xSchedulerRunning = pdTRUE;
\r
1064 xTickCount = ( portTickType ) 0;
\r
1066 /* Setting up the timer tick is hardware specific and thus in the
\r
1067 portable interface. */
\r
1068 if( xPortStartScheduler() )
\r
1070 /* Should not reach here as if the scheduler is running the
\r
1071 function will not return. */
\r
1075 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1079 /*-----------------------------------------------------------*/
\r
1081 void vTaskEndScheduler( void )
\r
1083 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1084 routine so the original ISRs can be restored if necessary. The port
\r
1085 layer must ensure interrupts enable bit is left in the correct state. */
\r
1086 portDISABLE_INTERRUPTS();
\r
1087 xSchedulerRunning = pdFALSE;
\r
1088 vPortEndScheduler();
\r
1090 /*----------------------------------------------------------*/
\r
1092 void vTaskSuspendAll( void )
\r
1094 portENTER_CRITICAL();
\r
1095 ++uxSchedulerSuspended;
\r
1096 portEXIT_CRITICAL();
\r
1098 /*----------------------------------------------------------*/
\r
1100 signed portBASE_TYPE xTaskResumeAll( void )
\r
1102 register tskTCB *pxTCB;
\r
1103 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1105 /* It is possible that an ISR caused a task to be removed from an event
\r
1106 list while the scheduler was suspended. If this was the case then the
\r
1107 removed task will have been added to the xPendingReadyList. Once the
\r
1108 scheduler has been resumed it is safe to move all the pending ready
\r
1109 tasks from this list into their appropriate ready list. */
\r
1110 portENTER_CRITICAL();
\r
1112 --uxSchedulerSuspended;
\r
1114 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1116 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
\r
1118 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1120 /* Move any readied tasks from the pending list into the
\r
1121 appropriate ready list. */
\r
1122 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL )
\r
1124 vListRemove( &( pxTCB->xEventListItem ) );
\r
1125 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1126 prvAddTaskToReadyQueue( pxTCB );
\r
1128 /* If we have moved a task that has a priority higher than
\r
1129 the current task then we should yield. */
\r
1130 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1132 xYieldRequired = pdTRUE;
\r
1136 /* If any ticks occurred while the scheduler was suspended then
\r
1137 they should be processed now. This ensures the tick count does not
\r
1138 slip, and that any delayed tasks are resumed at the correct time. */
\r
1139 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1141 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1143 vTaskIncrementTick();
\r
1147 /* As we have processed some ticks it is appropriate to yield
\r
1148 to ensure the highest priority task that is ready to run is
\r
1149 the task actually running. */
\r
1150 #if configUSE_PREEMPTION == 1
\r
1152 xYieldRequired = pdTRUE;
\r
1157 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1159 xAlreadyYielded = pdTRUE;
\r
1160 xMissedYield = pdFALSE;
\r
1166 portEXIT_CRITICAL();
\r
1168 return xAlreadyYielded;
\r
1176 /*-----------------------------------------------------------
\r
1177 * PUBLIC TASK UTILITIES documented in task.h
\r
1178 *----------------------------------------------------------*/
\r
1182 portTickType xTaskGetTickCount( void )
\r
1184 portTickType xTicks;
\r
1186 /* Critical section required if running on a 16 bit processor. */
\r
1187 taskENTER_CRITICAL();
\r
1189 xTicks = xTickCount;
\r
1191 taskEXIT_CRITICAL();
\r
1195 /*-----------------------------------------------------------*/
\r
1197 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1199 unsigned portBASE_TYPE uxNumberOfTasks;
\r
1201 taskENTER_CRITICAL();
\r
1202 uxNumberOfTasks = uxCurrentNumberOfTasks;
\r
1203 taskEXIT_CRITICAL();
\r
1205 return uxNumberOfTasks;
\r
1207 /*-----------------------------------------------------------*/
\r
1209 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_vTaskDelete == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1211 void vTaskList( signed portCHAR *pcWriteBuffer )
\r
1213 unsigned portBASE_TYPE uxQueue;
\r
1215 /* This is a VERY costly function that should be used for debug only.
\r
1216 It leaves interrupts disabled for a LONG time. */
\r
1218 vTaskSuspendAll();
\r
1220 /* Run through all the lists that could potentially contain a TCB and
\r
1221 report the task name, state and stack high water mark. */
\r
1223 pcWriteBuffer[ 0 ] = ( signed portCHAR ) 0x00;
\r
1224 strcat( ( portCHAR * ) pcWriteBuffer, ( const portCHAR * ) "\r\n" );
\r
1226 uxQueue = uxTopUsedPriority + 1;
\r
1232 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1234 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1236 }while( uxQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
\r
1238 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1240 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1243 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1245 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1248 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1250 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1253 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1255 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1262 /*----------------------------------------------------------*/
\r
1264 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1266 void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize )
\r
1268 portENTER_CRITICAL();
\r
1270 pcTraceBuffer = ( signed portCHAR * )pcBuffer;
\r
1271 pcTraceBufferStart = pcBuffer;
\r
1272 pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
\r
1273 xTracing = pdTRUE;
\r
1275 portEXIT_CRITICAL();
\r
1279 /*----------------------------------------------------------*/
\r
1281 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1283 unsigned portLONG ulTaskEndTrace( void )
\r
1285 unsigned portLONG ulBufferLength;
\r
1287 portENTER_CRITICAL();
\r
1288 xTracing = pdFALSE;
\r
1289 portEXIT_CRITICAL();
\r
1291 ulBufferLength = ( unsigned portLONG ) ( pcTraceBuffer - pcTraceBufferStart );
\r
1293 return ulBufferLength;
\r
1300 /*-----------------------------------------------------------
\r
1301 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1302 * documented in task.h
\r
1303 *----------------------------------------------------------*/
\r
1306 inline void vTaskIncrementTick( void )
\r
1308 /* Called by the portable layer each time a tick interrupt occurs.
\r
1309 Increments the tick then checks to see if the new tick value will cause any
\r
1310 tasks to be unblocked. */
\r
1311 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1314 if( xTickCount == ( portTickType ) 0 )
\r
1318 /* Tick count has overflowed so we need to swap the delay lists.
\r
1319 If there are any items in pxDelayedTaskList here then there is
\r
1321 pxTemp = pxDelayedTaskList;
\r
1322 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1323 pxOverflowDelayedTaskList = pxTemp;
\r
1324 xNumOfOverflows++;
\r
1327 /* See if this tick has made a timeout expire. */
\r
1328 prvCheckDelayedTasks();
\r
1334 /* The tick hook gets called at regular intervals, even if the
\r
1335 scheduler is locked. */
\r
1336 #if ( configUSE_TICK_HOOK == 1 )
\r
1338 extern void vApplicationTickHook( void );
\r
1340 vApplicationTickHook();
\r
1345 #if ( configUSE_TICK_HOOK == 1 )
\r
1347 extern void vApplicationTickHook( void );
\r
1349 /* Guard against the tick hook being called when the missed tick
\r
1350 count is being unwound (when the scheduler is being unlocked. */
\r
1351 if( uxMissedTicks == 0 )
\r
1353 vApplicationTickHook();
\r
1358 traceTASK_INCREMENT_TICK( xTickCount );
\r
1360 /*-----------------------------------------------------------*/
\r
1362 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1364 void vTaskCleanUpResources( void )
\r
1366 unsigned portSHORT usQueue;
\r
1367 volatile tskTCB *pxTCB;
\r
1369 usQueue = ( unsigned portSHORT ) uxTopUsedPriority + ( unsigned portSHORT ) 1;
\r
1371 /* Remove any TCB's from the ready queues. */
\r
1376 while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
\r
1378 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
\r
1379 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1381 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1383 }while( usQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
\r
1385 /* Remove any TCB's from the delayed queue. */
\r
1386 while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
\r
1388 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
\r
1389 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1391 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1394 /* Remove any TCB's from the overflow delayed queue. */
\r
1395 while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
\r
1397 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
\r
1398 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1400 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1403 while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1405 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
\r
1406 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1408 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1413 /*-----------------------------------------------------------*/
\r
1415 void vTaskSwitchContext( void )
\r
1417 traceTASK_SWITCHED_OUT();
\r
1419 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1421 /* The scheduler is currently suspended - do not allow a context
\r
1423 xMissedYield = pdTRUE;
\r
1427 taskCHECK_FOR_STACK_OVERFLOW();
\r
1429 /* Find the highest priority queue that contains ready tasks. */
\r
1430 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1432 --uxTopReadyPriority;
\r
1435 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1436 same priority get an equal share of the processor time. */
\r
1437 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1439 traceTASK_SWITCHED_IN();
\r
1440 vWriteTraceToBuffer();
\r
1442 /*-----------------------------------------------------------*/
\r
1444 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1446 portTickType xTimeToWake;
\r
1448 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1449 SCHEDULER SUSPENDED. */
\r
1451 /* Place the event list item of the TCB in the appropriate event list.
\r
1452 This is placed in the list in priority order so the highest priority task
\r
1453 is the first to be woken by the event. */
\r
1454 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1456 /* We must remove ourselves from the ready list before adding ourselves
\r
1457 to the blocked list as the same list item is used for both lists. We have
\r
1458 exclusive access to the ready lists as the scheduler is locked. */
\r
1459 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1462 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1464 if( xTicksToWait == portMAX_DELAY )
\r
1466 /* Add ourselves to the suspended task list instead of a delayed task
\r
1467 list to ensure we are not woken by a timing event. We will block
\r
1469 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1473 /* Calculate the time at which the task should be woken if the event does
\r
1474 not occur. This may overflow but this doesn't matter. */
\r
1475 xTimeToWake = xTickCount + xTicksToWait;
\r
1477 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1479 if( xTimeToWake < xTickCount )
\r
1481 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1482 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1486 /* The wake time has not overflowed, so we can use the current block list. */
\r
1487 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1493 /* Calculate the time at which the task should be woken if the event does
\r
1494 not occur. This may overflow but this doesn't matter. */
\r
1495 xTimeToWake = xTickCount + xTicksToWait;
\r
1497 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1499 if( xTimeToWake < xTickCount )
\r
1501 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1502 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1506 /* The wake time has not overflowed, so we can use the current block list. */
\r
1507 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1512 /*-----------------------------------------------------------*/
\r
1514 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1516 tskTCB *pxUnblockedTCB;
\r
1517 portBASE_TYPE xReturn;
\r
1519 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1520 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1522 /* The event list is sorted in priority order, so we can remove the
\r
1523 first in the list, remove the TCB from the delayed list, and add
\r
1524 it to the ready list.
\r
1526 If an event is for a queue that is locked then this function will never
\r
1527 get called - the lock count on the queue will get modified instead. This
\r
1528 means we can always expect exclusive access to the event list here. */
\r
1529 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1530 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1532 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1534 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1535 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1539 /* We cannot access the delayed or ready lists, so will hold this
\r
1540 task pending until the scheduler is resumed. */
\r
1541 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1544 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1546 /* Return true if the task removed from the event list has
\r
1547 a higher priority than the calling task. This allows
\r
1548 the calling task to know if it should force a context
\r
1554 xReturn = pdFALSE;
\r
1559 /*-----------------------------------------------------------*/
\r
1561 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1563 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1564 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1566 /*-----------------------------------------------------------*/
\r
1568 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1570 portBASE_TYPE xReturn;
\r
1572 portENTER_CRITICAL();
\r
1574 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1575 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1576 the maximum block time then the task should block indefinitely, and
\r
1577 therefore never time out. */
\r
1578 if( *pxTicksToWait == portMAX_DELAY )
\r
1580 xReturn = pdFALSE;
\r
1582 else /* We are not blocking indefinitely, perform the checks below. */
\r
1585 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xTickCount >= pxTimeOut->xTimeOnEntering ) )
\r
1587 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1588 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1589 It must have wrapped all the way around and gone past us again. This
\r
1590 passed since vTaskSetTimeout() was called. */
\r
1593 else if( ( xTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
1595 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1596 *pxTicksToWait -= ( xTickCount - pxTimeOut->xTimeOnEntering );
\r
1597 vTaskSetTimeOutState( pxTimeOut );
\r
1598 xReturn = pdFALSE;
\r
1605 portEXIT_CRITICAL();
\r
1609 /*-----------------------------------------------------------*/
\r
1611 void vTaskMissedYield( void )
\r
1613 xMissedYield = pdTRUE;
\r
1617 * -----------------------------------------------------------
\r
1619 * ----------------------------------------------------------
\r
1621 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1622 * language extensions. The equivalent prototype for this function is:
\r
1624 * void prvIdleTask( void *pvParameters );
\r
1627 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1629 /* Stop warnings. */
\r
1630 ( void ) pvParameters;
\r
1634 /* See if any tasks have been deleted. */
\r
1635 prvCheckTasksWaitingTermination();
\r
1637 #if ( configUSE_PREEMPTION == 0 )
\r
1639 /* If we are not using preemption we keep forcing a task switch to
\r
1640 see if any other task has become available. If we are using
\r
1641 preemption we don't need to do this as any task becoming available
\r
1642 will automatically get the processor anyway. */
\r
1647 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1649 /* When using preemption tasks of equal priority will be
\r
1650 timesliced. If a task that is sharing the idle priority is ready
\r
1651 to run then the idle task should yield before the end of the
\r
1654 A critical region is not required here as we are just reading from
\r
1655 the list, and an occasional incorrect value will not matter. If
\r
1656 the ready list at the idle priority contains more than one task
\r
1657 then a task other than the idle task is ready to execute. */
\r
1658 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1665 #if ( configUSE_IDLE_HOOK == 1 )
\r
1667 extern void vApplicationIdleHook( void );
\r
1669 /* Call the user defined function from within the idle task. This
\r
1670 allows the application designer to add background functionality
\r
1671 without the overhead of a separate task.
\r
1672 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1673 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1674 vApplicationIdleHook();
\r
1678 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1686 /*-----------------------------------------------------------
\r
1687 * File private functions documented at the top of the file.
\r
1688 *----------------------------------------------------------*/
\r
1692 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority )
\r
1694 /* Store the function name in the TCB. */
\r
1695 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned portSHORT ) configMAX_TASK_NAME_LEN );
\r
1696 pxTCB->pcTaskName[ ( unsigned portSHORT ) configMAX_TASK_NAME_LEN - ( unsigned portSHORT ) 1 ] = '\0';
\r
1698 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
1700 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
\r
1704 /* This is used as an array index so must ensure it's not too large. */
\r
1705 if( uxPriority >= configMAX_PRIORITIES )
\r
1707 uxPriority = configMAX_PRIORITIES - 1;
\r
1710 pxTCB->uxPriority = uxPriority;
\r
1711 #if ( configUSE_MUTEXES == 1 )
\r
1713 pxTCB->uxBasePriority = uxPriority;
\r
1717 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
1718 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
1720 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
1721 back to the containing TCB from a generic item in a list. */
\r
1722 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
1724 /* Event lists are always in priority order. */
\r
1725 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
1726 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
1728 /*-----------------------------------------------------------*/
\r
1730 static void prvInitialiseTaskLists( void )
\r
1732 unsigned portBASE_TYPE uxPriority;
\r
1734 for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
1736 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
1739 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
1740 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
1741 vListInitialise( ( xList * ) &xPendingReadyList );
\r
1743 #if ( INCLUDE_vTaskDelete == 1 )
\r
1745 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
1749 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1751 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
1755 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
1757 pxDelayedTaskList = &xDelayedTaskList1;
\r
1758 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
1760 /*-----------------------------------------------------------*/
\r
1762 static void prvCheckTasksWaitingTermination( void )
\r
1764 #if ( INCLUDE_vTaskDelete == 1 )
\r
1766 portBASE_TYPE xListIsEmpty;
\r
1768 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
1769 too often in the idle task. */
\r
1770 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
\r
1772 vTaskSuspendAll();
\r
1773 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
1776 if( !xListIsEmpty )
\r
1780 portENTER_CRITICAL();
\r
1782 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
1783 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1784 --uxCurrentNumberOfTasks;
\r
1787 portEXIT_CRITICAL();
\r
1789 prvDeleteTCB( pxTCB );
\r
1795 /*-----------------------------------------------------------*/
\r
1797 static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth )
\r
1801 /* Allocate space for the TCB. Where the memory comes from depends on
\r
1802 the implementation of the port malloc function. */
\r
1803 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
1805 if( pxNewTCB != NULL )
\r
1807 /* Allocate space for the stack used by the task being created.
\r
1808 The base of the stack memory stored in the TCB so the task can
\r
1809 be deleted later if required. */
\r
1810 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMalloc( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) );
\r
1812 if( pxNewTCB->pxStack == NULL )
\r
1814 /* Could not allocate the stack. Delete the allocated TCB. */
\r
1815 vPortFree( pxNewTCB );
\r
1820 /* Just to help debugging. */
\r
1821 memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
\r
1827 /*-----------------------------------------------------------*/
\r
1829 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1831 static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus )
\r
1833 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
1834 static portCHAR pcStatusString[ 50 ];
\r
1835 unsigned portSHORT usStackRemaining;
\r
1837 /* Write the details of all the TCB's in pxList into the buffer. */
\r
1838 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
1841 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
1842 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned portCHAR * ) pxNextTCB->pxStack );
\r
1843 sprintf( pcStatusString, ( portCHAR * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
\r
1844 strcat( ( portCHAR * ) pcWriteBuffer, ( portCHAR * ) pcStatusString );
\r
1846 } while( pxNextTCB != pxFirstTCB );
\r
1850 /*-----------------------------------------------------------*/
\r
1852 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
1854 unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte )
\r
1856 register unsigned portSHORT usCount = 0;
\r
1858 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
1860 pucStackByte -= portSTACK_GROWTH;
\r
1864 usCount /= sizeof( portSTACK_TYPE );
\r
1870 /*-----------------------------------------------------------*/
\r
1872 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
1874 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
1878 pxTCB = prvGetTCBFromHandle( xTask );
\r
1879 return usTaskCheckFreeStackSpace( ( unsigned portCHAR * ) pxTCB->pxStack );
\r
1883 /*-----------------------------------------------------------*/
\r
1885 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
\r
1887 static void prvDeleteTCB( tskTCB *pxTCB )
\r
1889 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
1890 the task to free any memory allocated at the application level. */
\r
1891 vPortFree( pxTCB->pxStack );
\r
1892 vPortFree( pxTCB );
\r
1898 /*-----------------------------------------------------------*/
\r
1900 #if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
\r
1902 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
1904 xTaskHandle xReturn;
\r
1906 portENTER_CRITICAL();
\r
1908 xReturn = ( xTaskHandle ) pxCurrentTCB;
\r
1910 portEXIT_CRITICAL();
\r
1917 /*-----------------------------------------------------------*/
\r
1919 #if ( INCLUDE_xTaskGetSchedulerState == 1 )
\r
1921 portBASE_TYPE xTaskGetSchedulerState( void )
\r
1923 portBASE_TYPE xReturn;
\r
1925 if( xSchedulerRunning == pdFALSE )
\r
1927 xReturn = taskSCHEDULER_NOT_STARTED;
\r
1931 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1933 xReturn = taskSCHEDULER_RUNNING;
\r
1937 xReturn = taskSCHEDULER_SUSPENDED;
\r
1945 /*-----------------------------------------------------------*/
\r
1947 #if ( configUSE_MUTEXES == 1 )
\r
1949 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
1951 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
1953 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
1955 /* Adjust the mutex holder state to account for its new priority. */
\r
1956 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
1958 /* If the task being modified is in the ready state it will need to
\r
1959 be moved in to a new list. */
\r
1960 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
1962 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1964 /* Inherit the priority before being moved into the new list. */
\r
1965 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
1966 prvAddTaskToReadyQueue( pxTCB );
\r
1970 /* Just inherit the priority. */
\r
1971 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
1977 /*-----------------------------------------------------------*/
\r
1979 #if ( configUSE_MUTEXES == 1 )
\r
1981 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
1983 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
1985 if( pxMutexHolder != NULL )
\r
1987 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
1989 /* We must be the running task to be able to give the mutex back.
\r
1990 Remove ourselves from the ready list we currently appear in. */
\r
1991 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1993 /* Disinherit the priority before adding ourselves into the new
\r
1995 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
1996 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
1997 prvAddTaskToReadyQueue( pxTCB );
\r
2003 /*-----------------------------------------------------------*/
\r
2005 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2007 void vTaskEnterCritical( void )
\r
2009 portDISABLE_INTERRUPTS();
\r
2011 if( xSchedulerRunning != pdFALSE )
\r
2013 pxCurrentTCB->uxCriticalNesting++;
\r
2018 /*-----------------------------------------------------------*/
\r
2020 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2022 void vTaskExitCritical( void )
\r
2024 if( xSchedulerRunning != pdFALSE )
\r
2026 if( pxCurrentTCB->uxCriticalNesting > 0 )
\r
2028 pxCurrentTCB->uxCriticalNesting--;
\r
2030 if( pxCurrentTCB->uxCriticalNesting == 0 )
\r
2032 portENABLE_INTERRUPTS();
\r
2039 /*-----------------------------------------------------------*/
\r