2 FreeRTOS.org V4.7.2 - 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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28 Please ensure to read the configuration and relevant port sections of the
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29 online documentation.
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31 +++ http://www.FreeRTOS.org +++
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32 Documentation, latest information, license and contact details.
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34 +++ http://www.SafeRTOS.com +++
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35 A version that is certified for use in safety critical systems.
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37 +++ http://www.OpenRTOS.com +++
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38 Commercial support, development, porting, licensing and training services.
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40 ***************************************************************************
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48 #include "FreeRTOS.h"
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52 * Macro to define the amount of stack available to the idle task.
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54 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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58 * Default a definitions for backwards compatibility with old
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59 * portmacro.h files.
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61 #ifndef configMAX_TASK_NAME_LEN
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62 #define configMAX_TASK_NAME_LEN 16
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65 #ifndef configIDLE_SHOULD_YIELD
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66 #define configIDLE_SHOULD_YIELD 1
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69 #if configMAX_TASK_NAME_LEN < 1
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70 #undef configMAX_TASK_NAME_LEN
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71 #define configMAX_TASK_NAME_LEN 1
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74 #ifndef INCLUDE_xTaskResumeFromISR
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75 #define INCLUDE_xTaskResumeFromISR 1
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78 #ifndef INCLUDE_xTaskGetSchedulerState
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79 #define INCLUDE_xTaskGetSchedulerState 0
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83 * Task control block. A task control block (TCB) is allocated to each task,
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84 * and stores the context of the task.
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86 typedef struct tskTaskControlBlock
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88 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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89 xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
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90 xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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91 unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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92 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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93 signed portCHAR pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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95 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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96 unsigned portBASE_TYPE uxCriticalNesting;
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99 #if ( configUSE_TRACE_FACILITY == 1 )
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100 unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
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103 #if ( configUSE_MUTEXES == 1 )
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104 unsigned portBASE_TYPE uxBasePriority;
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111 tskTCB * volatile pxCurrentTCB = NULL;
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113 /* Lists for ready and blocked tasks. --------------------*/
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115 static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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116 static xList xDelayedTaskList1; /*< Delayed tasks. */
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117 static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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118 static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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119 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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120 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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122 #if ( INCLUDE_vTaskDelete == 1 )
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124 static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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125 static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
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129 #if ( INCLUDE_vTaskSuspend == 1 )
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131 static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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135 /* File private variables. --------------------------------*/
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136 static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
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137 static volatile portTickType xTickCount = ( portTickType ) 0;
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138 static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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139 static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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140 static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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141 static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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142 static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
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143 static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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144 static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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145 /* Debugging and trace facilities private variables and macros. ------------*/
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148 * The value used to fill the stack of a task when the task is created. This
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149 * is used purely for checking the high water mark for tasks.
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151 #define tskSTACK_FILL_BYTE ( 0xa5 )
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154 * Macros used by vListTask to indicate which state a task is in.
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156 #define tskBLOCKED_CHAR ( ( signed portCHAR ) 'B' )
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157 #define tskREADY_CHAR ( ( signed portCHAR ) 'R' )
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158 #define tskDELETED_CHAR ( ( signed portCHAR ) 'D' )
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159 #define tskSUSPENDED_CHAR ( ( signed portCHAR ) 'S' )
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162 * Macros and private variables used by the trace facility.
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164 #if ( configUSE_TRACE_FACILITY == 1 )
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166 #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned portLONG ) ( sizeof( unsigned portLONG ) + sizeof( unsigned portLONG ) ) )
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167 static volatile signed portCHAR * volatile pcTraceBuffer;
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168 static signed portCHAR *pcTraceBufferStart;
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169 static signed portCHAR *pcTraceBufferEnd;
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170 static signed portBASE_TYPE xTracing = pdFALSE;
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174 /*-----------------------------------------------------------*/
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177 * Macro that writes a trace of scheduler activity to a buffer. This trace
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178 * shows which task is running when and is very useful as a debugging tool.
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179 * As this macro is called each context switch it is a good idea to undefine
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180 * it if not using the facility.
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182 #if ( configUSE_TRACE_FACILITY == 1 )
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184 #define vWriteTraceToBuffer() \
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188 static unsigned portBASE_TYPE uxPreviousTask = 255; \
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190 if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
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192 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
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194 uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
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195 *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) xTickCount; \
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196 pcTraceBuffer += sizeof( unsigned portLONG ); \
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197 *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) uxPreviousTask; \
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198 pcTraceBuffer += sizeof( unsigned portLONG ); \
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202 xTracing = pdFALSE; \
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210 #define vWriteTraceToBuffer()
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213 /*-----------------------------------------------------------*/
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216 * Place the task represented by pxTCB into the appropriate ready queue for
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217 * the task. It is inserted at the end of the list. One quirk of this is
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218 * that if the task being inserted is at the same priority as the currently
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219 * executing task, then it will only be rescheduled after the currently
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220 * executing task has been rescheduled.
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222 #define prvAddTaskToReadyQueue( pxTCB ) \
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224 if( pxTCB->uxPriority > uxTopReadyPriority ) \
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226 uxTopReadyPriority = pxTCB->uxPriority; \
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228 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \
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230 /*-----------------------------------------------------------*/
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233 * Macro that looks at the list of tasks that are currently delayed to see if
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234 * any require waking.
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236 * Tasks are stored in the queue in the order of their wake time - meaning
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237 * once one tasks has been found whose timer has not expired we need not look
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238 * any further down the list.
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240 #define prvCheckDelayedTasks() \
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242 register tskTCB *pxTCB; \
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244 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \
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246 if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \
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250 vListRemove( &( pxTCB->xGenericListItem ) ); \
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251 /* Is the task waiting on an event also? */ \
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252 if( pxTCB->xEventListItem.pvContainer ) \
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254 vListRemove( &( pxTCB->xEventListItem ) ); \
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256 prvAddTaskToReadyQueue( pxTCB ); \
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259 /*-----------------------------------------------------------*/
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262 * Call the stack overflow hook function if the stack of the task being swapped
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263 * out is currently overflowed, or looks like it might have overflowed in the
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266 * Setting configCHECK_FOR_STACK_OVERFLOW to 1 will cause the macro to check
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267 * the current stack state only - comparing the current top of stack value to
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268 * the stack limit. Setting configCHECK_FOR_STACK_OVERFLOW to greater than 1
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269 * will also cause the last few stack bytes to be checked to ensure the value
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270 * to which the bytes were set when the task was created have not been
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271 * overwritten. Note this second test does not guarantee that an overflown
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272 * stack will always be recognised.
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275 #if( configCHECK_FOR_STACK_OVERFLOW == 0 )
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277 /* FreeRTOSConfig.h is not set to check for stack overflows. */
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278 #define taskCHECK_FOR_STACK_OVERFLOW()
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280 #endif /* configCHECK_FOR_STACK_OVERFLOW == 0 */
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282 #if( ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH >= 0 ) )
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284 /* This is an invalid setting. */
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285 #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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287 #endif /* ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH >= 0 ) */
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289 #if( configCHECK_FOR_STACK_OVERFLOW == 1 )
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291 /* Only the current stack state is to be checked. */
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292 #define taskCHECK_FOR_STACK_OVERFLOW() \
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294 extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName ); \
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296 /* Is the currently saved stack pointer within the stack limit? */ \
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297 if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \
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299 vApplicationStackOverflowHook( pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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303 #endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
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305 #if( configCHECK_FOR_STACK_OVERFLOW > 1 )
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307 /* Both the current statck state and the stack fill bytes are to be checked. */
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308 #define taskCHECK_FOR_STACK_OVERFLOW() \
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310 extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName ); \
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311 static const unsigned portCHAR ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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312 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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313 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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314 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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315 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \
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317 /* Is the currently saved stack pointer within the stack limit? */ \
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318 if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \
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320 vApplicationStackOverflowHook( pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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323 /* Has the extremity of the task stack ever been written over? */ \
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324 if( memcmp( pxCurrentTCB->pxStack, ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \
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326 vApplicationStackOverflowHook( pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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330 #endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
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331 /*-----------------------------------------------------------*/
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334 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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335 * where NULL is used to indicate that the handle of the currently executing
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336 * task should be used in place of the parameter. This macro simply checks to
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337 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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339 #define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )
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342 /* File private functions. --------------------------------*/
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345 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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346 * into the TCB structure.
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348 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority );
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351 * Utility to ready all the lists used by the scheduler. This is called
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352 * automatically upon the creation of the first task.
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354 static void prvInitialiseTaskLists( void );
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357 * The idle task, which as all tasks is implemented as a never ending loop.
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358 * The idle task is automatically created and added to the ready lists upon
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359 * creation of the first user task.
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361 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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362 * language extensions. The equivalent prototype for this function is:
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364 * void prvIdleTask( void *pvParameters );
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367 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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370 * Utility to free all memory allocated by the scheduler to hold a TCB,
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371 * including the stack pointed to by the TCB.
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373 * This does not free memory allocated by the task itself (i.e. memory
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374 * allocated by calls to pvPortMalloc from within the tasks application code).
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376 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
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377 static void prvDeleteTCB( tskTCB *pxTCB );
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381 * Used only by the idle task. This checks to see if anything has been placed
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382 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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383 * and its TCB deleted.
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385 static void prvCheckTasksWaitingTermination( void );
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388 * Allocates memory from the heap for a TCB and associated stack. Checks the
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389 * allocation was successful.
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391 static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );
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394 * Called from vTaskList. vListTasks details all the tasks currently under
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395 * control of the scheduler. The tasks may be in one of a number of lists.
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396 * prvListTaskWithinSingleList accepts a list and details the tasks from
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397 * within just that list.
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399 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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400 * NORMAL APPLICATION CODE.
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402 #if ( configUSE_TRACE_FACILITY == 1 )
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404 static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus );
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409 * When a task is created, the stack of the task is filled with a known value.
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410 * This function determines the 'high water mark' of the task stack by
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411 * determining how much of the stack remains at the original preset value.
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413 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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415 unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte );
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420 * Checks that a task being resumed (unsuspended) is actually in the Suspended
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423 #if ( INCLUDE_vTaskSuspend == 1 )
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425 static portBASE_TYPE prvIsTaskSuspended( const tskTCB * const pxTCB );
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433 /*-----------------------------------------------------------
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434 * TASK CREATION API documented in task.h
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435 *----------------------------------------------------------*/
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437 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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439 signed portBASE_TYPE xReturn;
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441 #if ( configUSE_TRACE_FACILITY == 1 )
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442 static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberate - this is guarded before use. */
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445 /* Allocate the memory required by the TCB and stack for the new task.
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446 checking that the allocation was successful. */
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447 pxNewTCB = prvAllocateTCBAndStack( usStackDepth );
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449 if( pxNewTCB != NULL )
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451 portSTACK_TYPE *pxTopOfStack;
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453 /* Setup the newly allocated TCB with the initial state of the task. */
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454 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority );
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456 /* Calculate the top of stack address. This depends on whether the
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457 stack grows from high memory to low (as per the 80x86) or visa versa.
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458 portSTACK_GROWTH is used to make the result positive or negative as
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459 required by the port. */
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460 #if portSTACK_GROWTH < 0
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462 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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466 pxTopOfStack = pxNewTCB->pxStack;
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470 /* Initialize the TCB stack to look as if the task was already running,
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471 but had been interrupted by the scheduler. The return address is set
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472 to the start of the task function. Once the stack has been initialised
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473 the top of stack variable is updated. */
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474 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pvTaskCode, pvParameters );
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476 /* We are going to manipulate the task queues to add this task to a
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477 ready list, so must make sure no interrupts occur. */
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478 portENTER_CRITICAL();
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480 uxCurrentNumberOfTasks++;
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481 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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483 /* As this is the first task it must also be the current task. */
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484 pxCurrentTCB = pxNewTCB;
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486 /* This is the first task to be created so do the preliminary
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487 initialisation required. We will not recover if this call
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488 fails, but we will report the failure. */
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489 prvInitialiseTaskLists();
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493 /* If the scheduler is not already running, make this task the
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494 current task if it is the highest priority task to be created
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496 if( xSchedulerRunning == pdFALSE )
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498 if( pxCurrentTCB->uxPriority <= uxPriority )
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500 pxCurrentTCB = pxNewTCB;
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505 /* Remember the top priority to make context switching faster. Use
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506 the priority in pxNewTCB as this has been capped to a valid value. */
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507 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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509 uxTopUsedPriority = pxNewTCB->uxPriority;
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512 #if ( configUSE_TRACE_FACILITY == 1 )
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514 /* Add a counter into the TCB for tracing only. */
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515 pxNewTCB->uxTCBNumber = uxTaskNumber;
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520 prvAddTaskToReadyQueue( pxNewTCB );
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523 traceTASK_CREATE( pxNewTCB );
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525 portEXIT_CRITICAL();
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529 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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530 traceTASK_CREATE_FAILED( pxNewTCB );
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533 if( xReturn == pdPASS )
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535 if( ( void * ) pxCreatedTask != NULL )
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537 /* Pass the TCB out - in an anonymous way. The calling function/
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538 task can use this as a handle to delete the task later if
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540 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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543 if( xSchedulerRunning != pdFALSE )
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545 /* If the created task is of a higher priority than the current task
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546 then it should run now. */
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547 if( pxCurrentTCB->uxPriority < uxPriority )
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556 /*-----------------------------------------------------------*/
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558 #if ( INCLUDE_vTaskDelete == 1 )
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560 void vTaskDelete( xTaskHandle pxTaskToDelete )
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564 taskENTER_CRITICAL();
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566 /* Ensure a yield is performed if the current task is being
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568 if( pxTaskToDelete == pxCurrentTCB )
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570 pxTaskToDelete = NULL;
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573 /* If null is passed in here then we are deleting ourselves. */
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574 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
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576 traceTASK_DELETE( pxTCB );
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578 /* Remove task from the ready list and place in the termination list.
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579 This will stop the task from be scheduled. The idle task will check
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580 the termination list and free up any memory allocated by the
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581 scheduler for the TCB and stack. */
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582 vListRemove( &( pxTCB->xGenericListItem ) );
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584 /* Is the task waiting on an event also? */
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585 if( pxTCB->xEventListItem.pvContainer )
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587 vListRemove( &( pxTCB->xEventListItem ) );
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590 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
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592 /* Increment the ucTasksDeleted variable so the idle task knows
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593 there is a task that has been deleted and that it should therefore
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594 check the xTasksWaitingTermination list. */
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597 taskEXIT_CRITICAL();
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599 /* Force a reschedule if we have just deleted the current task. */
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600 if( xSchedulerRunning != pdFALSE )
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602 if( ( void * ) pxTaskToDelete == NULL )
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616 /*-----------------------------------------------------------
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617 * TASK CONTROL API documented in task.h
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618 *----------------------------------------------------------*/
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620 #if ( INCLUDE_vTaskDelayUntil == 1 )
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622 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
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624 portTickType xTimeToWake;
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625 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
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629 /* Generate the tick time at which the task wants to wake. */
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630 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
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632 if( xTickCount < *pxPreviousWakeTime )
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634 /* The tick count has overflowed since this function was
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635 lasted called. In this case the only time we should ever
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636 actually delay is if the wake time has also overflowed,
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637 and the wake time is greater than the tick time. When this
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638 is the case it is as if neither time had overflowed. */
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639 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
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641 xShouldDelay = pdTRUE;
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646 /* The tick time has not overflowed. In this case we will
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647 delay if either the wake time has overflowed, and/or the
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648 tick time is less than the wake time. */
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649 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
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651 xShouldDelay = pdTRUE;
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655 /* Update the wake time ready for the next call. */
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656 *pxPreviousWakeTime = xTimeToWake;
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660 traceTASK_DELAY_UNTIL();
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662 /* We must remove ourselves from the ready list before adding
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663 ourselves to the blocked list as the same list item is used for
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665 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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667 /* The list item will be inserted in wake time order. */
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668 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
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670 if( xTimeToWake < xTickCount )
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672 /* Wake time has overflowed. Place this item in the
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674 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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678 /* The wake time has not overflowed, so we can use the
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679 current block list. */
\r
680 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
684 xAlreadyYielded = xTaskResumeAll();
\r
686 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
687 have put ourselves to sleep. */
\r
688 if( !xAlreadyYielded )
\r
695 /*-----------------------------------------------------------*/
\r
697 #if ( INCLUDE_vTaskDelay == 1 )
\r
699 void vTaskDelay( portTickType xTicksToDelay )
\r
701 portTickType xTimeToWake;
\r
702 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
704 /* A delay time of zero just forces a reschedule. */
\r
705 if( xTicksToDelay > ( portTickType ) 0 )
\r
711 /* A task that is removed from the event list while the
\r
712 scheduler is suspended will not get placed in the ready
\r
713 list or removed from the blocked list until the scheduler
\r
716 This task cannot be in an event list as it is the currently
\r
719 /* Calculate the time to wake - this may overflow but this is
\r
721 xTimeToWake = xTickCount + xTicksToDelay;
\r
723 /* We must remove ourselves from the ready list before adding
\r
724 ourselves to the blocked list as the same list item is used for
\r
726 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
728 /* The list item will be inserted in wake time order. */
\r
729 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
731 if( xTimeToWake < xTickCount )
\r
733 /* Wake time has overflowed. Place this item in the
\r
735 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
739 /* The wake time has not overflowed, so we can use the
\r
740 current block list. */
\r
741 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
744 xAlreadyYielded = xTaskResumeAll();
\r
747 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
748 have put ourselves to sleep. */
\r
749 if( !xAlreadyYielded )
\r
756 /*-----------------------------------------------------------*/
\r
758 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
760 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
763 unsigned portBASE_TYPE uxReturn;
\r
765 taskENTER_CRITICAL();
\r
767 /* If null is passed in here then we are changing the
\r
768 priority of the calling function. */
\r
769 pxTCB = prvGetTCBFromHandle( pxTask );
\r
770 uxReturn = pxTCB->uxPriority;
\r
772 taskEXIT_CRITICAL();
\r
778 /*-----------------------------------------------------------*/
\r
780 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
782 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
785 unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
\r
787 /* Ensure the new priority is valid. */
\r
788 if( uxNewPriority >= configMAX_PRIORITIES )
\r
790 uxNewPriority = configMAX_PRIORITIES - 1;
\r
793 taskENTER_CRITICAL();
\r
795 /* If null is passed in here then we are changing the
\r
796 priority of the calling function. */
\r
797 pxTCB = prvGetTCBFromHandle( pxTask );
\r
799 traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
\r
801 #if ( configUSE_MUTEXES == 1 )
\r
803 uxCurrentPriority = pxTCB->uxBasePriority;
\r
807 uxCurrentPriority = pxTCB->uxPriority;
\r
811 if( uxCurrentPriority != uxNewPriority )
\r
813 /* The priority change may have readied a task of higher
\r
814 priority than the calling task. */
\r
815 if( uxNewPriority > uxCurrentPriority )
\r
817 if( pxTask != NULL )
\r
819 /* The priority of another task is being raised. If we
\r
820 were raising the priority of the currently running task
\r
821 there would be no need to switch as it must have already
\r
822 been the highest priority task. */
\r
823 xYieldRequired = pdTRUE;
\r
826 else if( pxTask == NULL )
\r
828 /* Setting our own priority down means there may now be another
\r
829 task of higher priority that is ready to execute. */
\r
830 xYieldRequired = pdTRUE;
\r
835 #if ( configUSE_MUTEXES == 1 )
\r
837 /* Only change the priority being used if the task is not
\r
838 currently using an inherited priority. */
\r
839 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
841 pxTCB->uxPriority = uxNewPriority;
\r
844 /* The base priority gets set whatever. */
\r
845 pxTCB->uxBasePriority = uxNewPriority;
\r
849 pxTCB->uxPriority = uxNewPriority;
\r
853 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
855 /* If the task is in the blocked or suspended list we need do
\r
856 nothing more than change it's priority variable. However, if
\r
857 the task is in a ready list it needs to be removed and placed
\r
858 in the queue appropriate to its new priority. */
\r
859 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
861 /* The task is currently in its ready list - remove before adding
\r
862 it to it's new ready list. As we are in a critical section we
\r
863 can do this even if the scheduler is suspended. */
\r
864 vListRemove( &( pxTCB->xGenericListItem ) );
\r
865 prvAddTaskToReadyQueue( pxTCB );
\r
868 if( xYieldRequired == pdTRUE )
\r
874 taskEXIT_CRITICAL();
\r
878 /*-----------------------------------------------------------*/
\r
880 #if ( INCLUDE_vTaskSuspend == 1 )
\r
882 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
886 taskENTER_CRITICAL();
\r
888 /* Ensure a yield is performed if the current task is being
\r
890 if( pxTaskToSuspend == pxCurrentTCB )
\r
892 pxTaskToSuspend = NULL;
\r
895 /* If null is passed in here then we are suspending ourselves. */
\r
896 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
898 traceTASK_SUSPEND( pxTaskToSuspend );
\r
900 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
901 vListRemove( &( pxTCB->xGenericListItem ) );
\r
903 /* Is the task waiting on an event also? */
\r
904 if( pxTCB->xEventListItem.pvContainer )
\r
906 vListRemove( &( pxTCB->xEventListItem ) );
\r
909 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
911 taskEXIT_CRITICAL();
\r
913 /* We may have just suspended the current task. */
\r
914 if( ( void * ) pxTaskToSuspend == NULL )
\r
921 /*-----------------------------------------------------------*/
\r
923 #if ( INCLUDE_vTaskSuspend == 1 )
\r
925 static portBASE_TYPE prvIsTaskSuspended( const tskTCB * const pxTCB )
\r
927 portBASE_TYPE xReturn = pdFALSE;
\r
929 /* Is the task we are attempting to resume actually in the
\r
931 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
933 /* Has the task already been resumed from within an ISR? */
\r
934 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
936 /* Is it in the suspended list because it is in the
\r
937 Suspended state? It is possible to be in the suspended
\r
938 list because it is blocked on a task with no timeout
\r
940 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
951 /*-----------------------------------------------------------*/
\r
953 #if ( INCLUDE_vTaskSuspend == 1 )
\r
955 void vTaskResume( xTaskHandle pxTaskToResume )
\r
959 /* Remove the task from whichever list it is currently in, and place
\r
960 it in the ready list. */
\r
961 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
963 /* The parameter cannot be NULL as it is impossible to resume the
\r
964 currently executing task. */
\r
965 if( pxTCB != NULL )
\r
967 taskENTER_CRITICAL();
\r
969 if( prvIsTaskSuspended( pxTCB ) == pdTRUE )
\r
971 traceTASK_RESUME( pxTCB );
\r
973 /* As we are in a critical section we can access the ready
\r
974 lists even if the scheduler is suspended. */
\r
975 vListRemove( &( pxTCB->xGenericListItem ) );
\r
976 prvAddTaskToReadyQueue( pxTCB );
\r
978 /* We may have just resumed a higher priority task. */
\r
979 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
981 /* This yield may not cause the task just resumed to run, but
\r
982 will leave the lists in the correct state for the next yield. */
\r
987 taskEXIT_CRITICAL();
\r
993 /*-----------------------------------------------------------*/
\r
995 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
997 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
999 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1002 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1004 if( prvIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1006 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1008 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1010 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1011 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1012 prvAddTaskToReadyQueue( pxTCB );
\r
1016 /* We cannot access the delayed or ready lists, so will hold this
\r
1017 task pending until the scheduler is resumed, at which point a
\r
1018 yield will be performed if necessary. */
\r
1019 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1023 return xYieldRequired;
\r
1031 /*-----------------------------------------------------------
\r
1032 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1033 *----------------------------------------------------------*/
\r
1036 void vTaskStartScheduler( void )
\r
1038 portBASE_TYPE xReturn;
\r
1040 /* Add the idle task at the lowest priority. */
\r
1041 xReturn = xTaskCreate( prvIdleTask, ( signed portCHAR * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
\r
1043 if( xReturn == pdPASS )
\r
1045 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1046 before or during the call to xPortStartScheduler(). The stacks of
\r
1047 the created tasks contain a status word with interrupts switched on
\r
1048 so interrupts will automatically get re-enabled when the first task
\r
1051 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1052 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1053 portDISABLE_INTERRUPTS();
\r
1055 xSchedulerRunning = pdTRUE;
\r
1056 xTickCount = ( portTickType ) 0;
\r
1058 /* Setting up the timer tick is hardware specific and thus in the
\r
1059 portable interface. */
\r
1060 if( xPortStartScheduler() )
\r
1062 /* Should not reach here as if the scheduler is running the
\r
1063 function will not return. */
\r
1067 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1071 /*-----------------------------------------------------------*/
\r
1073 void vTaskEndScheduler( void )
\r
1075 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1076 routine so the original ISRs can be restored if necessary. The port
\r
1077 layer must ensure interrupts enable bit is left in the correct state. */
\r
1078 portDISABLE_INTERRUPTS();
\r
1079 xSchedulerRunning = pdFALSE;
\r
1080 vPortEndScheduler();
\r
1082 /*----------------------------------------------------------*/
\r
1084 void vTaskSuspendAll( void )
\r
1086 portENTER_CRITICAL();
\r
1087 ++uxSchedulerSuspended;
\r
1088 portEXIT_CRITICAL();
\r
1090 /*----------------------------------------------------------*/
\r
1092 signed portBASE_TYPE xTaskResumeAll( void )
\r
1094 register tskTCB *pxTCB;
\r
1095 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1097 /* It is possible that an ISR caused a task to be removed from an event
\r
1098 list while the scheduler was suspended. If this was the case then the
\r
1099 removed task will have been added to the xPendingReadyList. Once the
\r
1100 scheduler has been resumed it is safe to move all the pending ready
\r
1101 tasks from this list into their appropriate ready list. */
\r
1102 portENTER_CRITICAL();
\r
1104 --uxSchedulerSuspended;
\r
1106 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1108 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
\r
1110 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1112 /* Move any readied tasks from the pending list into the
\r
1113 appropriate ready list. */
\r
1114 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL )
\r
1116 vListRemove( &( pxTCB->xEventListItem ) );
\r
1117 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1118 prvAddTaskToReadyQueue( pxTCB );
\r
1120 /* If we have moved a task that has a priority higher than
\r
1121 the current task then we should yield. */
\r
1122 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1124 xYieldRequired = pdTRUE;
\r
1128 /* If any ticks occurred while the scheduler was suspended then
\r
1129 they should be processed now. This ensures the tick count does not
\r
1130 slip, and that any delayed tasks are resumed at the correct time. */
\r
1131 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1133 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1135 vTaskIncrementTick();
\r
1139 /* As we have processed some ticks it is appropriate to yield
\r
1140 to ensure the highest priority task that is ready to run is
\r
1141 the task actually running. */
\r
1142 #if configUSE_PREEMPTION == 1
\r
1144 xYieldRequired = pdTRUE;
\r
1149 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1151 xAlreadyYielded = pdTRUE;
\r
1152 xMissedYield = pdFALSE;
\r
1158 portEXIT_CRITICAL();
\r
1160 return xAlreadyYielded;
\r
1168 /*-----------------------------------------------------------
\r
1169 * PUBLIC TASK UTILITIES documented in task.h
\r
1170 *----------------------------------------------------------*/
\r
1174 portTickType xTaskGetTickCount( void )
\r
1176 portTickType xTicks;
\r
1178 /* Critical section required if running on a 16 bit processor. */
\r
1179 taskENTER_CRITICAL();
\r
1181 xTicks = xTickCount;
\r
1183 taskEXIT_CRITICAL();
\r
1187 /*-----------------------------------------------------------*/
\r
1189 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1191 unsigned portBASE_TYPE uxNumberOfTasks;
\r
1193 taskENTER_CRITICAL();
\r
1194 uxNumberOfTasks = uxCurrentNumberOfTasks;
\r
1195 taskEXIT_CRITICAL();
\r
1197 return uxNumberOfTasks;
\r
1199 /*-----------------------------------------------------------*/
\r
1201 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_vTaskDelete == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1203 void vTaskList( signed portCHAR *pcWriteBuffer )
\r
1205 unsigned portBASE_TYPE uxQueue;
\r
1207 /* This is a VERY costly function that should be used for debug only.
\r
1208 It leaves interrupts disabled for a LONG time. */
\r
1210 vTaskSuspendAll();
\r
1212 /* Run through all the lists that could potentially contain a TCB and
\r
1213 report the task name, state and stack high water mark. */
\r
1215 pcWriteBuffer[ 0 ] = ( signed portCHAR ) 0x00;
\r
1216 strcat( ( portCHAR * ) pcWriteBuffer, ( const portCHAR * ) "\r\n" );
\r
1218 uxQueue = uxTopUsedPriority + 1;
\r
1224 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1226 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1228 }while( uxQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
\r
1230 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1232 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1235 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1237 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1240 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1242 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1245 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1247 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1254 /*----------------------------------------------------------*/
\r
1256 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1258 void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize )
\r
1260 portENTER_CRITICAL();
\r
1262 pcTraceBuffer = ( signed portCHAR * )pcBuffer;
\r
1263 pcTraceBufferStart = pcBuffer;
\r
1264 pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
\r
1265 xTracing = pdTRUE;
\r
1267 portEXIT_CRITICAL();
\r
1271 /*----------------------------------------------------------*/
\r
1273 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1275 unsigned portLONG ulTaskEndTrace( void )
\r
1277 unsigned portLONG ulBufferLength;
\r
1279 portENTER_CRITICAL();
\r
1280 xTracing = pdFALSE;
\r
1281 portEXIT_CRITICAL();
\r
1283 ulBufferLength = ( unsigned portLONG ) ( pcTraceBuffer - pcTraceBufferStart );
\r
1285 return ulBufferLength;
\r
1292 /*-----------------------------------------------------------
\r
1293 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1294 * documented in task.h
\r
1295 *----------------------------------------------------------*/
\r
1298 inline void vTaskIncrementTick( void )
\r
1300 /* Called by the portable layer each time a tick interrupt occurs.
\r
1301 Increments the tick then checks to see if the new tick value will cause any
\r
1302 tasks to be unblocked. */
\r
1303 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1306 if( xTickCount == ( portTickType ) 0 )
\r
1310 /* Tick count has overflowed so we need to swap the delay lists.
\r
1311 If there are any items in pxDelayedTaskList here then there is
\r
1313 pxTemp = pxDelayedTaskList;
\r
1314 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1315 pxOverflowDelayedTaskList = pxTemp;
\r
1316 xNumOfOverflows++;
\r
1319 /* See if this tick has made a timeout expire. */
\r
1320 prvCheckDelayedTasks();
\r
1326 /* The tick hook gets called at regular intervals, even if the
\r
1327 scheduler is locked. */
\r
1328 #if ( configUSE_TICK_HOOK == 1 )
\r
1330 extern void vApplicationTickHook( void );
\r
1332 vApplicationTickHook();
\r
1337 #if ( configUSE_TICK_HOOK == 1 )
\r
1339 extern void vApplicationTickHook( void );
\r
1341 /* Guard against the tick hook being called when the missed tick
\r
1342 count is being unwound (when the scheduler is being unlocked. */
\r
1343 if( uxMissedTicks == 0 )
\r
1345 vApplicationTickHook();
\r
1350 traceTASK_INCREMENT_TICK( xTickCount );
\r
1352 /*-----------------------------------------------------------*/
\r
1354 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1356 void vTaskCleanUpResources( void )
\r
1358 unsigned portSHORT usQueue;
\r
1359 volatile tskTCB *pxTCB;
\r
1361 usQueue = ( unsigned portSHORT ) uxTopUsedPriority + ( unsigned portSHORT ) 1;
\r
1363 /* Remove any TCB's from the ready queues. */
\r
1368 while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
\r
1370 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
\r
1371 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1373 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1375 }while( usQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
\r
1377 /* Remove any TCB's from the delayed queue. */
\r
1378 while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
\r
1380 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
\r
1381 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1383 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1386 /* Remove any TCB's from the overflow delayed queue. */
\r
1387 while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
\r
1389 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
\r
1390 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1392 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1395 while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1397 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
\r
1398 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1400 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1405 /*-----------------------------------------------------------*/
\r
1407 void vTaskSwitchContext( void )
\r
1409 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1411 /* The scheduler is currently suspended - do not allow a context
\r
1413 xMissedYield = pdTRUE;
\r
1417 taskCHECK_FOR_STACK_OVERFLOW();
\r
1419 /* Find the highest priority queue that contains ready tasks. */
\r
1420 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1422 --uxTopReadyPriority;
\r
1425 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1426 same priority get an equal share of the processor time. */
\r
1427 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1429 traceTASK_SWITCHED_IN();
\r
1430 vWriteTraceToBuffer();
\r
1432 /*-----------------------------------------------------------*/
\r
1434 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1436 portTickType xTimeToWake;
\r
1438 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1439 SCHEDULER SUSPENDED. */
\r
1441 /* Place the event list item of the TCB in the appropriate event list.
\r
1442 This is placed in the list in priority order so the highest priority task
\r
1443 is the first to be woken by the event. */
\r
1444 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1446 /* We must remove ourselves from the ready list before adding ourselves
\r
1447 to the blocked list as the same list item is used for both lists. We have
\r
1448 exclusive access to the ready lists as the scheduler is locked. */
\r
1449 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1452 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1454 if( xTicksToWait == portMAX_DELAY )
\r
1456 /* Add ourselves to the suspended task list instead of a delayed task
\r
1457 list to ensure we are not woken by a timing event. We will block
\r
1459 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1463 /* Calculate the time at which the task should be woken if the event does
\r
1464 not occur. This may overflow but this doesn't matter. */
\r
1465 xTimeToWake = xTickCount + xTicksToWait;
\r
1467 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1469 if( xTimeToWake < xTickCount )
\r
1471 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1472 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1476 /* The wake time has not overflowed, so we can use the current block list. */
\r
1477 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1483 /* Calculate the time at which the task should be woken if the event does
\r
1484 not occur. This may overflow but this doesn't matter. */
\r
1485 xTimeToWake = xTickCount + xTicksToWait;
\r
1487 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1489 if( xTimeToWake < xTickCount )
\r
1491 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1492 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1496 /* The wake time has not overflowed, so we can use the current block list. */
\r
1497 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1502 /*-----------------------------------------------------------*/
\r
1504 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1506 tskTCB *pxUnblockedTCB;
\r
1507 portBASE_TYPE xReturn;
\r
1509 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1510 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1512 /* The event list is sorted in priority order, so we can remove the
\r
1513 first in the list, remove the TCB from the delayed list, and add
\r
1514 it to the ready list.
\r
1516 If an event is for a queue that is locked then this function will never
\r
1517 get called - the lock count on the queue will get modified instead. This
\r
1518 means we can always expect exclusive access to the event list here. */
\r
1519 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1520 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1522 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1524 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1525 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1529 /* We cannot access the delayed or ready lists, so will hold this
\r
1530 task pending until the scheduler is resumed. */
\r
1531 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1534 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1536 /* Return true if the task removed from the event list has
\r
1537 a higher priority than the calling task. This allows
\r
1538 the calling task to know if it should force a context
\r
1544 xReturn = pdFALSE;
\r
1549 /*-----------------------------------------------------------*/
\r
1551 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1553 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1554 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1556 /*-----------------------------------------------------------*/
\r
1558 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1560 portBASE_TYPE xReturn;
\r
1562 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1563 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1564 the maximum block time then the task should block indefinitely, and
\r
1565 therefore never time out. */
\r
1566 if( *pxTicksToWait == portMAX_DELAY )
\r
1568 xReturn = pdFALSE;
\r
1570 else /* We are not blocking indefinitely, perform the checks below. */
\r
1573 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xTickCount >= pxTimeOut->xTimeOnEntering ) )
\r
1575 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1576 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1577 It must have wrapped all the way around and gone past us again. This
\r
1578 passed since vTaskSetTimeout() was called. */
\r
1581 else if( ( xTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
1583 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1584 *pxTicksToWait -= ( xTickCount - pxTimeOut->xTimeOnEntering );
\r
1585 vTaskSetTimeOutState( pxTimeOut );
\r
1586 xReturn = pdFALSE;
\r
1595 /*-----------------------------------------------------------*/
\r
1597 void vTaskMissedYield( void )
\r
1599 xMissedYield = pdTRUE;
\r
1603 * -----------------------------------------------------------
\r
1605 * ----------------------------------------------------------
\r
1607 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1608 * language extensions. The equivalent prototype for this function is:
\r
1610 * void prvIdleTask( void *pvParameters );
\r
1613 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1615 /* Stop warnings. */
\r
1616 ( void ) pvParameters;
\r
1620 /* See if any tasks have been deleted. */
\r
1621 prvCheckTasksWaitingTermination();
\r
1623 #if ( configUSE_PREEMPTION == 0 )
\r
1625 /* If we are not using preemption we keep forcing a task switch to
\r
1626 see if any other task has become available. If we are using
\r
1627 preemption we don't need to do this as any task becoming available
\r
1628 will automatically get the processor anyway. */
\r
1633 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1635 /* When using preemption tasks of equal priority will be
\r
1636 timesliced. If a task that is sharing the idle priority is ready
\r
1637 to run then the idle task should yield before the end of the
\r
1640 A critical region is not required here as we are just reading from
\r
1641 the list, and an occasional incorrect value will not matter. If
\r
1642 the ready list at the idle priority contains more than one task
\r
1643 then a task other than the idle task is ready to execute. */
\r
1644 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1651 #if ( configUSE_IDLE_HOOK == 1 )
\r
1653 extern void vApplicationIdleHook( void );
\r
1655 /* Call the user defined function from within the idle task. This
\r
1656 allows the application designer to add background functionality
\r
1657 without the overhead of a separate task.
\r
1658 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1659 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1660 vApplicationIdleHook();
\r
1664 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1672 /*-----------------------------------------------------------
\r
1673 * File private functions documented at the top of the file.
\r
1674 *----------------------------------------------------------*/
\r
1678 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority )
\r
1680 /* Store the function name in the TCB. */
\r
1681 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned portSHORT ) configMAX_TASK_NAME_LEN );
\r
1682 pxTCB->pcTaskName[ ( unsigned portSHORT ) configMAX_TASK_NAME_LEN - ( unsigned portSHORT ) 1 ] = '\0';
\r
1684 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
1686 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
\r
1690 /* This is used as an array index so must ensure it's not too large. */
\r
1691 if( uxPriority >= configMAX_PRIORITIES )
\r
1693 uxPriority = configMAX_PRIORITIES - 1;
\r
1696 pxTCB->uxPriority = uxPriority;
\r
1697 #if ( configUSE_MUTEXES == 1 )
\r
1699 pxTCB->uxBasePriority = uxPriority;
\r
1703 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
1704 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
1706 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
1707 back to the containing TCB from a generic item in a list. */
\r
1708 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
1710 /* Event lists are always in priority order. */
\r
1711 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
1712 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
1714 /*-----------------------------------------------------------*/
\r
1716 static void prvInitialiseTaskLists( void )
\r
1718 unsigned portBASE_TYPE uxPriority;
\r
1720 for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
1722 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
1725 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
1726 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
1727 vListInitialise( ( xList * ) &xPendingReadyList );
\r
1729 #if ( INCLUDE_vTaskDelete == 1 )
\r
1731 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
1735 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1737 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
1741 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
1743 pxDelayedTaskList = &xDelayedTaskList1;
\r
1744 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
1746 /*-----------------------------------------------------------*/
\r
1748 static void prvCheckTasksWaitingTermination( void )
\r
1750 #if ( INCLUDE_vTaskDelete == 1 )
\r
1752 portBASE_TYPE xListIsEmpty;
\r
1754 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
1755 too often in the idle task. */
\r
1756 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
\r
1758 vTaskSuspendAll();
\r
1759 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
1762 if( !xListIsEmpty )
\r
1766 portENTER_CRITICAL();
\r
1768 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
1769 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1770 --uxCurrentNumberOfTasks;
\r
1773 portEXIT_CRITICAL();
\r
1775 prvDeleteTCB( pxTCB );
\r
1781 /*-----------------------------------------------------------*/
\r
1783 static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth )
\r
1787 /* Allocate space for the TCB. Where the memory comes from depends on
\r
1788 the implementation of the port malloc function. */
\r
1789 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
1791 if( pxNewTCB != NULL )
\r
1793 /* Allocate space for the stack used by the task being created.
\r
1794 The base of the stack memory stored in the TCB so the task can
\r
1795 be deleted later if required. */
\r
1796 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMalloc( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) );
\r
1798 if( pxNewTCB->pxStack == NULL )
\r
1800 /* Could not allocate the stack. Delete the allocated TCB. */
\r
1801 vPortFree( pxNewTCB );
\r
1806 /* Just to help debugging. */
\r
1807 memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
\r
1813 /*-----------------------------------------------------------*/
\r
1815 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1817 static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus )
\r
1819 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
1820 static portCHAR pcStatusString[ 50 ];
\r
1821 unsigned portSHORT usStackRemaining;
\r
1823 /* Write the details of all the TCB's in pxList into the buffer. */
\r
1824 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
1827 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
1828 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned portCHAR * ) pxNextTCB->pxStack );
\r
1829 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
1830 strcat( ( portCHAR * ) pcWriteBuffer, ( portCHAR * ) pcStatusString );
\r
1832 } while( pxNextTCB != pxFirstTCB );
\r
1836 /*-----------------------------------------------------------*/
\r
1838 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
1840 unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte )
\r
1842 register unsigned portSHORT usCount = 0;
\r
1844 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
1846 pucStackByte -= portSTACK_GROWTH;
\r
1850 usCount /= sizeof( portSTACK_TYPE );
\r
1856 /*-----------------------------------------------------------*/
\r
1858 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
1860 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( void )
\r
1862 return usTaskCheckFreeStackSpace( pxCurrentTCB->pxStack );
\r
1866 /*-----------------------------------------------------------*/
\r
1868 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
\r
1870 static void prvDeleteTCB( tskTCB *pxTCB )
\r
1872 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
1873 the task to free any memory allocated at the application level. */
\r
1874 vPortFree( pxTCB->pxStack );
\r
1875 vPortFree( pxTCB );
\r
1881 /*-----------------------------------------------------------*/
\r
1883 #if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
\r
1885 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
1887 xTaskHandle xReturn;
\r
1889 portENTER_CRITICAL();
\r
1891 xReturn = ( xTaskHandle ) pxCurrentTCB;
\r
1893 portEXIT_CRITICAL();
\r
1900 /*-----------------------------------------------------------*/
\r
1902 #if ( INCLUDE_xTaskGetSchedulerState == 1 )
\r
1904 portBASE_TYPE xTaskGetSchedulerState( void )
\r
1906 portBASE_TYPE xReturn;
\r
1908 if( xSchedulerRunning == pdFALSE )
\r
1910 xReturn = taskSCHEDULER_NOT_STARTED;
\r
1914 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1916 xReturn = taskSCHEDULER_RUNNING;
\r
1920 xReturn = taskSCHEDULER_SUSPENDED;
\r
1928 /*-----------------------------------------------------------*/
\r
1930 #if ( configUSE_MUTEXES == 1 )
\r
1932 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
1934 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
1936 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
1938 /* Adjust the mutex holder state to account for its new priority. */
\r
1939 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
1941 /* If the task being modified is in the ready state it will need to
\r
1942 be moved in to a new list. */
\r
1943 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
1945 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1947 /* Inherit the priority before being moved into the new list. */
\r
1948 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
1949 prvAddTaskToReadyQueue( pxTCB );
\r
1953 /* Just inherit the priority. */
\r
1954 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
1960 /*-----------------------------------------------------------*/
\r
1962 #if ( configUSE_MUTEXES == 1 )
\r
1964 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
1966 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
1968 if( pxMutexHolder != NULL )
\r
1970 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
1972 /* We must be the running task to be able to give the mutex back.
\r
1973 Remove ourselves from the ready list we currently appear in. */
\r
1974 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1976 /* Disinherit the priority before adding ourselves into the new
\r
1978 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
1979 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
1980 prvAddTaskToReadyQueue( pxTCB );
\r
1986 /*-----------------------------------------------------------*/
\r
1988 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
1990 void vTaskEnterCritical( void )
\r
1992 portDISABLE_INTERRUPTS();
\r
1994 if( xSchedulerRunning != pdFALSE )
\r
1996 pxCurrentTCB->uxCriticalNesting++;
\r
2001 /*-----------------------------------------------------------*/
\r
2003 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2005 void vTaskExitCritical( void )
\r
2007 if( xSchedulerRunning != pdFALSE )
\r
2009 if( pxCurrentTCB->uxCriticalNesting > 0 )
\r
2011 pxCurrentTCB->uxCriticalNesting--;
\r
2013 if( pxCurrentTCB->uxCriticalNesting == 0 )
\r
2015 portENABLE_INTERRUPTS();
\r
2022 /*-----------------------------------------------------------*/
\r