2 FreeRTOS.org V5.0.0 - 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 * Task control block. A task control block (TCB) is allocated to each task,
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66 * and stores the context of the task.
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68 typedef struct tskTaskControlBlock
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70 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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71 xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
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72 xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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73 unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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74 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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75 signed portCHAR pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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77 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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78 unsigned portBASE_TYPE uxCriticalNesting;
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81 #if ( configUSE_TRACE_FACILITY == 1 )
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82 unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
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85 #if ( configUSE_MUTEXES == 1 )
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86 unsigned portBASE_TYPE uxBasePriority;
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89 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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90 pdTASK_HOOK_CODE pxTaskTag;
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97 tskTCB * volatile pxCurrentTCB = NULL;
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99 /* Lists for ready and blocked tasks. --------------------*/
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101 static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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102 static xList xDelayedTaskList1; /*< Delayed tasks. */
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103 static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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104 static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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105 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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106 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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108 #if ( INCLUDE_vTaskDelete == 1 )
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110 static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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111 static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
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115 #if ( INCLUDE_vTaskSuspend == 1 )
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117 static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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121 /* File private variables. --------------------------------*/
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122 static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
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123 static volatile portTickType xTickCount = ( portTickType ) 0;
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124 static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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125 static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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126 static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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127 static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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128 static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
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129 static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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130 static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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131 /* Debugging and trace facilities private variables and macros. ------------*/
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134 * The value used to fill the stack of a task when the task is created. This
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135 * is used purely for checking the high water mark for tasks.
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137 #define tskSTACK_FILL_BYTE ( 0xa5 )
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140 * Macros used by vListTask to indicate which state a task is in.
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142 #define tskBLOCKED_CHAR ( ( signed portCHAR ) 'B' )
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143 #define tskREADY_CHAR ( ( signed portCHAR ) 'R' )
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144 #define tskDELETED_CHAR ( ( signed portCHAR ) 'D' )
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145 #define tskSUSPENDED_CHAR ( ( signed portCHAR ) 'S' )
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148 * Macros and private variables used by the trace facility.
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150 #if ( configUSE_TRACE_FACILITY == 1 )
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152 #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned portLONG ) ( sizeof( unsigned portLONG ) + sizeof( unsigned portLONG ) ) )
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153 static volatile signed portCHAR * volatile pcTraceBuffer;
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154 static signed portCHAR *pcTraceBufferStart;
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155 static signed portCHAR *pcTraceBufferEnd;
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156 static signed portBASE_TYPE xTracing = pdFALSE;
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160 /*-----------------------------------------------------------*/
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163 * Macro that writes a trace of scheduler activity to a buffer. This trace
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164 * shows which task is running when and is very useful as a debugging tool.
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165 * As this macro is called each context switch it is a good idea to undefine
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166 * it if not using the facility.
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168 #if ( configUSE_TRACE_FACILITY == 1 )
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170 #define vWriteTraceToBuffer() \
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174 static unsigned portBASE_TYPE uxPreviousTask = 255; \
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176 if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
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178 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
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180 uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
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181 *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) xTickCount; \
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182 pcTraceBuffer += sizeof( unsigned portLONG ); \
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183 *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) uxPreviousTask; \
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184 pcTraceBuffer += sizeof( unsigned portLONG ); \
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188 xTracing = pdFALSE; \
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196 #define vWriteTraceToBuffer()
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199 /*-----------------------------------------------------------*/
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202 * Place the task represented by pxTCB into the appropriate ready queue for
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203 * the task. It is inserted at the end of the list. One quirk of this is
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204 * that if the task being inserted is at the same priority as the currently
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205 * executing task, then it will only be rescheduled after the currently
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206 * executing task has been rescheduled.
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208 #define prvAddTaskToReadyQueue( pxTCB ) \
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210 if( pxTCB->uxPriority > uxTopReadyPriority ) \
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212 uxTopReadyPriority = pxTCB->uxPriority; \
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214 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \
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216 /*-----------------------------------------------------------*/
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219 * Macro that looks at the list of tasks that are currently delayed to see if
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220 * any require waking.
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222 * Tasks are stored in the queue in the order of their wake time - meaning
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223 * once one tasks has been found whose timer has not expired we need not look
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224 * any further down the list.
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226 #define prvCheckDelayedTasks() \
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228 register tskTCB *pxTCB; \
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230 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \
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232 if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \
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236 vListRemove( &( pxTCB->xGenericListItem ) ); \
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237 /* Is the task waiting on an event also? */ \
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238 if( pxTCB->xEventListItem.pvContainer ) \
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240 vListRemove( &( pxTCB->xEventListItem ) ); \
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242 prvAddTaskToReadyQueue( pxTCB ); \
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245 /*-----------------------------------------------------------*/
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248 * Call the stack overflow hook function if the stack of the task being swapped
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249 * out is currently overflowed, or looks like it might have overflowed in the
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252 * Setting configCHECK_FOR_STACK_OVERFLOW to 1 will cause the macro to check
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253 * the current stack state only - comparing the current top of stack value to
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254 * the stack limit. Setting configCHECK_FOR_STACK_OVERFLOW to greater than 1
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255 * will also cause the last few stack bytes to be checked to ensure the value
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256 * to which the bytes were set when the task was created have not been
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257 * overwritten. Note this second test does not guarantee that an overflowed
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258 * stack will always be recognised.
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261 #if( configCHECK_FOR_STACK_OVERFLOW == 0 )
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263 /* FreeRTOSConfig.h is not set to check for stack overflows. */
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264 #define taskCHECK_FOR_STACK_OVERFLOW()
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266 #endif /* configCHECK_FOR_STACK_OVERFLOW == 0 */
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268 #if( ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH >= 0 ) )
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270 /* This is an invalid setting. */
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271 #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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273 #endif /* ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH >= 0 ) */
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275 #if( configCHECK_FOR_STACK_OVERFLOW == 1 )
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277 /* Only the current stack state is to be checked. */
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278 #define taskCHECK_FOR_STACK_OVERFLOW() \
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280 extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName ); \
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282 /* Is the currently saved stack pointer within the stack limit? */ \
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283 if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \
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285 vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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289 #endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
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291 #if( configCHECK_FOR_STACK_OVERFLOW > 1 )
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293 /* Both the current statck state and the stack fill bytes are to be checked. */
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294 #define taskCHECK_FOR_STACK_OVERFLOW() \
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296 extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName ); \
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297 static const unsigned portCHAR ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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298 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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299 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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300 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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301 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \
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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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309 /* Has the extremity of the task stack ever been written over? */ \
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310 if( memcmp( ( void * ) pxCurrentTCB->pxStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \
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312 vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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316 #endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
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318 /*-----------------------------------------------------------*/
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321 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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322 * where NULL is used to indicate that the handle of the currently executing
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323 * task should be used in place of the parameter. This macro simply checks to
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324 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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326 #define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )
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329 /* File private functions. --------------------------------*/
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332 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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333 * into the TCB structure.
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335 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority );
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338 * Utility to ready all the lists used by the scheduler. This is called
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339 * automatically upon the creation of the first task.
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341 static void prvInitialiseTaskLists( void );
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344 * The idle task, which as all tasks is implemented as a never ending loop.
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345 * The idle task is automatically created and added to the ready lists upon
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346 * creation of the first user task.
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348 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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349 * language extensions. The equivalent prototype for this function is:
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351 * void prvIdleTask( void *pvParameters );
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354 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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357 * Utility to free all memory allocated by the scheduler to hold a TCB,
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358 * including the stack pointed to by the TCB.
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360 * This does not free memory allocated by the task itself (i.e. memory
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361 * allocated by calls to pvPortMalloc from within the tasks application code).
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363 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
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364 static void prvDeleteTCB( tskTCB *pxTCB );
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368 * Used only by the idle task. This checks to see if anything has been placed
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369 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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370 * and its TCB deleted.
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372 static void prvCheckTasksWaitingTermination( void );
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375 * Allocates memory from the heap for a TCB and associated stack. Checks the
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376 * allocation was successful.
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378 static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );
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381 * Called from vTaskList. vListTasks details all the tasks currently under
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382 * control of the scheduler. The tasks may be in one of a number of lists.
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383 * prvListTaskWithinSingleList accepts a list and details the tasks from
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384 * within just that list.
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386 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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387 * NORMAL APPLICATION CODE.
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389 #if ( configUSE_TRACE_FACILITY == 1 )
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391 static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus );
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396 * When a task is created, the stack of the task is filled with a known value.
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397 * This function determines the 'high water mark' of the task stack by
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398 * determining how much of the stack remains at the original preset value.
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400 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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402 unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte );
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407 * Checks that a task being resumed (unsuspended) is actually in the Suspended
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410 #if ( INCLUDE_vTaskSuspend == 1 )
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412 static portBASE_TYPE prvIsTaskSuspended( const tskTCB * const pxTCB );
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420 /*-----------------------------------------------------------
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421 * TASK CREATION API documented in task.h
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422 *----------------------------------------------------------*/
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424 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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426 signed portBASE_TYPE xReturn;
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428 #if ( configUSE_TRACE_FACILITY == 1 )
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429 static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberate - this is guarded before use. */
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432 /* Allocate the memory required by the TCB and stack for the new task.
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433 checking that the allocation was successful. */
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434 pxNewTCB = prvAllocateTCBAndStack( usStackDepth );
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436 if( pxNewTCB != NULL )
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438 portSTACK_TYPE *pxTopOfStack;
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440 /* Setup the newly allocated TCB with the initial state of the task. */
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441 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority );
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443 /* Calculate the top of stack address. This depends on whether the
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444 stack grows from high memory to low (as per the 80x86) or visa versa.
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445 portSTACK_GROWTH is used to make the result positive or negative as
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446 required by the port. */
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447 #if portSTACK_GROWTH < 0
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449 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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453 pxTopOfStack = pxNewTCB->pxStack;
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457 /* Initialize the TCB stack to look as if the task was already running,
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458 but had been interrupted by the scheduler. The return address is set
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459 to the start of the task function. Once the stack has been initialised
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460 the top of stack variable is updated. */
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461 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pvTaskCode, pvParameters );
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463 /* We are going to manipulate the task queues to add this task to a
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464 ready list, so must make sure no interrupts occur. */
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465 portENTER_CRITICAL();
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467 uxCurrentNumberOfTasks++;
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468 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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470 /* As this is the first task it must also be the current task. */
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471 pxCurrentTCB = pxNewTCB;
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473 /* This is the first task to be created so do the preliminary
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474 initialisation required. We will not recover if this call
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475 fails, but we will report the failure. */
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476 prvInitialiseTaskLists();
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480 /* If the scheduler is not already running, make this task the
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481 current task if it is the highest priority task to be created
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483 if( xSchedulerRunning == pdFALSE )
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485 if( pxCurrentTCB->uxPriority <= uxPriority )
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487 pxCurrentTCB = pxNewTCB;
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492 /* Remember the top priority to make context switching faster. Use
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493 the priority in pxNewTCB as this has been capped to a valid value. */
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494 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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496 uxTopUsedPriority = pxNewTCB->uxPriority;
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499 #if ( configUSE_TRACE_FACILITY == 1 )
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501 /* Add a counter into the TCB for tracing only. */
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502 pxNewTCB->uxTCBNumber = uxTaskNumber;
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507 prvAddTaskToReadyQueue( pxNewTCB );
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510 traceTASK_CREATE( pxNewTCB );
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512 portEXIT_CRITICAL();
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516 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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517 traceTASK_CREATE_FAILED( pxNewTCB );
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520 if( xReturn == pdPASS )
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522 if( ( void * ) pxCreatedTask != NULL )
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524 /* Pass the TCB out - in an anonymous way. The calling function/
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525 task can use this as a handle to delete the task later if
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527 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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530 if( xSchedulerRunning != pdFALSE )
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532 /* If the created task is of a higher priority than the current task
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533 then it should run now. */
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534 if( pxCurrentTCB->uxPriority < uxPriority )
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543 /*-----------------------------------------------------------*/
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545 #if ( INCLUDE_vTaskDelete == 1 )
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547 void vTaskDelete( xTaskHandle pxTaskToDelete )
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551 taskENTER_CRITICAL();
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553 /* Ensure a yield is performed if the current task is being
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555 if( pxTaskToDelete == pxCurrentTCB )
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557 pxTaskToDelete = NULL;
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560 /* If null is passed in here then we are deleting ourselves. */
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561 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
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563 traceTASK_DELETE( pxTCB );
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565 /* Remove task from the ready list and place in the termination list.
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566 This will stop the task from be scheduled. The idle task will check
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567 the termination list and free up any memory allocated by the
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568 scheduler for the TCB and stack. */
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569 vListRemove( &( pxTCB->xGenericListItem ) );
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571 /* Is the task waiting on an event also? */
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572 if( pxTCB->xEventListItem.pvContainer )
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574 vListRemove( &( pxTCB->xEventListItem ) );
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577 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
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579 /* Increment the ucTasksDeleted variable so the idle task knows
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580 there is a task that has been deleted and that it should therefore
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581 check the xTasksWaitingTermination list. */
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584 taskEXIT_CRITICAL();
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586 /* Force a reschedule if we have just deleted the current task. */
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587 if( xSchedulerRunning != pdFALSE )
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589 if( ( void * ) pxTaskToDelete == NULL )
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603 /*-----------------------------------------------------------
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604 * TASK CONTROL API documented in task.h
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605 *----------------------------------------------------------*/
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607 #if ( INCLUDE_vTaskDelayUntil == 1 )
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609 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
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611 portTickType xTimeToWake;
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612 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
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616 /* Generate the tick time at which the task wants to wake. */
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617 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
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619 if( xTickCount < *pxPreviousWakeTime )
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621 /* The tick count has overflowed since this function was
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622 lasted called. In this case the only time we should ever
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623 actually delay is if the wake time has also overflowed,
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624 and the wake time is greater than the tick time. When this
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625 is the case it is as if neither time had overflowed. */
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626 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
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628 xShouldDelay = pdTRUE;
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633 /* The tick time has not overflowed. In this case we will
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634 delay if either the wake time has overflowed, and/or the
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635 tick time is less than the wake time. */
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636 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
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638 xShouldDelay = pdTRUE;
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642 /* Update the wake time ready for the next call. */
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643 *pxPreviousWakeTime = xTimeToWake;
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647 traceTASK_DELAY_UNTIL();
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649 /* We must remove ourselves from the ready list before adding
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650 ourselves to the blocked list as the same list item is used for
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652 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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654 /* The list item will be inserted in wake time order. */
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655 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
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657 if( xTimeToWake < xTickCount )
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659 /* Wake time has overflowed. Place this item in the
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661 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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665 /* The wake time has not overflowed, so we can use the
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666 current block list. */
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667 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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671 xAlreadyYielded = xTaskResumeAll();
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673 /* Force a reschedule if xTaskResumeAll has not already done so, we may
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674 have put ourselves to sleep. */
\r
675 if( !xAlreadyYielded )
\r
682 /*-----------------------------------------------------------*/
\r
684 #if ( INCLUDE_vTaskDelay == 1 )
\r
686 void vTaskDelay( portTickType xTicksToDelay )
\r
688 portTickType xTimeToWake;
\r
689 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
691 /* A delay time of zero just forces a reschedule. */
\r
692 if( xTicksToDelay > ( portTickType ) 0 )
\r
698 /* A task that is removed from the event list while the
\r
699 scheduler is suspended will not get placed in the ready
\r
700 list or removed from the blocked list until the scheduler
\r
703 This task cannot be in an event list as it is the currently
\r
706 /* Calculate the time to wake - this may overflow but this is
\r
708 xTimeToWake = xTickCount + xTicksToDelay;
\r
710 /* We must remove ourselves from the ready list before adding
\r
711 ourselves to the blocked list as the same list item is used for
\r
713 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
715 /* The list item will be inserted in wake time order. */
\r
716 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
718 if( xTimeToWake < xTickCount )
\r
720 /* Wake time has overflowed. Place this item in the
\r
722 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
726 /* The wake time has not overflowed, so we can use the
\r
727 current block list. */
\r
728 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
731 xAlreadyYielded = xTaskResumeAll();
\r
734 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
735 have put ourselves to sleep. */
\r
736 if( !xAlreadyYielded )
\r
743 /*-----------------------------------------------------------*/
\r
745 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
747 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
750 unsigned portBASE_TYPE uxReturn;
\r
752 taskENTER_CRITICAL();
\r
754 /* If null is passed in here then we are changing the
\r
755 priority of the calling function. */
\r
756 pxTCB = prvGetTCBFromHandle( pxTask );
\r
757 uxReturn = pxTCB->uxPriority;
\r
759 taskEXIT_CRITICAL();
\r
765 /*-----------------------------------------------------------*/
\r
767 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
769 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
772 unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
\r
774 /* Ensure the new priority is valid. */
\r
775 if( uxNewPriority >= configMAX_PRIORITIES )
\r
777 uxNewPriority = configMAX_PRIORITIES - 1;
\r
780 taskENTER_CRITICAL();
\r
782 if( pxTask == pxCurrentTCB )
\r
787 /* If null is passed in here then we are changing the
\r
788 priority of the calling function. */
\r
789 pxTCB = prvGetTCBFromHandle( pxTask );
\r
791 traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
\r
793 #if ( configUSE_MUTEXES == 1 )
\r
795 uxCurrentPriority = pxTCB->uxBasePriority;
\r
799 uxCurrentPriority = pxTCB->uxPriority;
\r
803 if( uxCurrentPriority != uxNewPriority )
\r
805 /* The priority change may have readied a task of higher
\r
806 priority than the calling task. */
\r
807 if( uxNewPriority > uxCurrentPriority )
\r
809 if( pxTask != NULL )
\r
811 /* The priority of another task is being raised. If we
\r
812 were raising the priority of the currently running task
\r
813 there would be no need to switch as it must have already
\r
814 been the highest priority task. */
\r
815 xYieldRequired = pdTRUE;
\r
818 else if( pxTask == NULL )
\r
820 /* Setting our own priority down means there may now be another
\r
821 task of higher priority that is ready to execute. */
\r
822 xYieldRequired = pdTRUE;
\r
827 #if ( configUSE_MUTEXES == 1 )
\r
829 /* Only change the priority being used if the task is not
\r
830 currently using an inherited priority. */
\r
831 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
833 pxTCB->uxPriority = uxNewPriority;
\r
836 /* The base priority gets set whatever. */
\r
837 pxTCB->uxBasePriority = uxNewPriority;
\r
841 pxTCB->uxPriority = uxNewPriority;
\r
845 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
847 /* If the task is in the blocked or suspended list we need do
\r
848 nothing more than change it's priority variable. However, if
\r
849 the task is in a ready list it needs to be removed and placed
\r
850 in the queue appropriate to its new priority. */
\r
851 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
853 /* The task is currently in its ready list - remove before adding
\r
854 it to it's new ready list. As we are in a critical section we
\r
855 can do this even if the scheduler is suspended. */
\r
856 vListRemove( &( pxTCB->xGenericListItem ) );
\r
857 prvAddTaskToReadyQueue( pxTCB );
\r
860 if( xYieldRequired == pdTRUE )
\r
866 taskEXIT_CRITICAL();
\r
870 /*-----------------------------------------------------------*/
\r
872 #if ( INCLUDE_vTaskSuspend == 1 )
\r
874 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
878 taskENTER_CRITICAL();
\r
880 /* Ensure a yield is performed if the current task is being
\r
882 if( pxTaskToSuspend == pxCurrentTCB )
\r
884 pxTaskToSuspend = NULL;
\r
887 /* If null is passed in here then we are suspending ourselves. */
\r
888 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
890 traceTASK_SUSPEND( pxTaskToSuspend );
\r
892 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
893 vListRemove( &( pxTCB->xGenericListItem ) );
\r
895 /* Is the task waiting on an event also? */
\r
896 if( pxTCB->xEventListItem.pvContainer )
\r
898 vListRemove( &( pxTCB->xEventListItem ) );
\r
901 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
903 taskEXIT_CRITICAL();
\r
905 /* We may have just suspended the current task. */
\r
906 if( ( void * ) pxTaskToSuspend == NULL )
\r
913 /*-----------------------------------------------------------*/
\r
915 #if ( INCLUDE_vTaskSuspend == 1 )
\r
917 static portBASE_TYPE prvIsTaskSuspended( const tskTCB * const pxTCB )
\r
919 portBASE_TYPE xReturn = pdFALSE;
\r
921 /* Is the task we are attempting to resume actually in the
\r
923 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
925 /* Has the task already been resumed from within an ISR? */
\r
926 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
928 /* Is it in the suspended list because it is in the
\r
929 Suspended state? It is possible to be in the suspended
\r
930 list because it is blocked on a task with no timeout
\r
932 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
943 /*-----------------------------------------------------------*/
\r
945 #if ( INCLUDE_vTaskSuspend == 1 )
\r
947 void vTaskResume( xTaskHandle pxTaskToResume )
\r
951 /* Remove the task from whichever list it is currently in, and place
\r
952 it in the ready list. */
\r
953 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
955 /* The parameter cannot be NULL as it is impossible to resume the
\r
956 currently executing task. */
\r
957 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
959 taskENTER_CRITICAL();
\r
961 if( prvIsTaskSuspended( pxTCB ) == pdTRUE )
\r
963 traceTASK_RESUME( pxTCB );
\r
965 /* As we are in a critical section we can access the ready
\r
966 lists even if the scheduler is suspended. */
\r
967 vListRemove( &( pxTCB->xGenericListItem ) );
\r
968 prvAddTaskToReadyQueue( pxTCB );
\r
970 /* We may have just resumed a higher priority task. */
\r
971 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
973 /* This yield may not cause the task just resumed to run, but
\r
974 will leave the lists in the correct state for the next yield. */
\r
979 taskEXIT_CRITICAL();
\r
985 /*-----------------------------------------------------------*/
\r
987 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
989 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
991 portBASE_TYPE xYieldRequired = pdFALSE;
\r
994 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
996 if( prvIsTaskSuspended( pxTCB ) == pdTRUE )
\r
998 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1000 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1002 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1003 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1004 prvAddTaskToReadyQueue( pxTCB );
\r
1008 /* We cannot access the delayed or ready lists, so will hold this
\r
1009 task pending until the scheduler is resumed, at which point a
\r
1010 yield will be performed if necessary. */
\r
1011 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1015 return xYieldRequired;
\r
1023 /*-----------------------------------------------------------
\r
1024 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1025 *----------------------------------------------------------*/
\r
1028 void vTaskStartScheduler( void )
\r
1030 portBASE_TYPE xReturn;
\r
1032 /* Add the idle task at the lowest priority. */
\r
1033 xReturn = xTaskCreate( prvIdleTask, ( signed portCHAR * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
\r
1035 if( xReturn == pdPASS )
\r
1037 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1038 before or during the call to xPortStartScheduler(). The stacks of
\r
1039 the created tasks contain a status word with interrupts switched on
\r
1040 so interrupts will automatically get re-enabled when the first task
\r
1043 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1044 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1045 portDISABLE_INTERRUPTS();
\r
1047 xSchedulerRunning = pdTRUE;
\r
1048 xTickCount = ( portTickType ) 0;
\r
1050 /* Setting up the timer tick is hardware specific and thus in the
\r
1051 portable interface. */
\r
1052 if( xPortStartScheduler() )
\r
1054 /* Should not reach here as if the scheduler is running the
\r
1055 function will not return. */
\r
1059 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1063 /*-----------------------------------------------------------*/
\r
1065 void vTaskEndScheduler( void )
\r
1067 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1068 routine so the original ISRs can be restored if necessary. The port
\r
1069 layer must ensure interrupts enable bit is left in the correct state. */
\r
1070 portDISABLE_INTERRUPTS();
\r
1071 xSchedulerRunning = pdFALSE;
\r
1072 vPortEndScheduler();
\r
1074 /*----------------------------------------------------------*/
\r
1076 void vTaskSuspendAll( void )
\r
1078 portENTER_CRITICAL();
\r
1079 ++uxSchedulerSuspended;
\r
1080 portEXIT_CRITICAL();
\r
1082 /*----------------------------------------------------------*/
\r
1084 signed portBASE_TYPE xTaskResumeAll( void )
\r
1086 register tskTCB *pxTCB;
\r
1087 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1089 /* It is possible that an ISR caused a task to be removed from an event
\r
1090 list while the scheduler was suspended. If this was the case then the
\r
1091 removed task will have been added to the xPendingReadyList. Once the
\r
1092 scheduler has been resumed it is safe to move all the pending ready
\r
1093 tasks from this list into their appropriate ready list. */
\r
1094 portENTER_CRITICAL();
\r
1096 --uxSchedulerSuspended;
\r
1098 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1100 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
\r
1102 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1104 /* Move any readied tasks from the pending list into the
\r
1105 appropriate ready list. */
\r
1106 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL )
\r
1108 vListRemove( &( pxTCB->xEventListItem ) );
\r
1109 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1110 prvAddTaskToReadyQueue( pxTCB );
\r
1112 /* If we have moved a task that has a priority higher than
\r
1113 the current task then we should yield. */
\r
1114 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1116 xYieldRequired = pdTRUE;
\r
1120 /* If any ticks occurred while the scheduler was suspended then
\r
1121 they should be processed now. This ensures the tick count does not
\r
1122 slip, and that any delayed tasks are resumed at the correct time. */
\r
1123 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1125 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1127 vTaskIncrementTick();
\r
1131 /* As we have processed some ticks it is appropriate to yield
\r
1132 to ensure the highest priority task that is ready to run is
\r
1133 the task actually running. */
\r
1134 #if configUSE_PREEMPTION == 1
\r
1136 xYieldRequired = pdTRUE;
\r
1141 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1143 xAlreadyYielded = pdTRUE;
\r
1144 xMissedYield = pdFALSE;
\r
1150 portEXIT_CRITICAL();
\r
1152 return xAlreadyYielded;
\r
1160 /*-----------------------------------------------------------
\r
1161 * PUBLIC TASK UTILITIES documented in task.h
\r
1162 *----------------------------------------------------------*/
\r
1166 portTickType xTaskGetTickCount( void )
\r
1168 portTickType xTicks;
\r
1170 /* Critical section required if running on a 16 bit processor. */
\r
1171 taskENTER_CRITICAL();
\r
1173 xTicks = xTickCount;
\r
1175 taskEXIT_CRITICAL();
\r
1179 /*-----------------------------------------------------------*/
\r
1181 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1183 unsigned portBASE_TYPE uxNumberOfTasks;
\r
1185 taskENTER_CRITICAL();
\r
1186 uxNumberOfTasks = uxCurrentNumberOfTasks;
\r
1187 taskEXIT_CRITICAL();
\r
1189 return uxNumberOfTasks;
\r
1191 /*-----------------------------------------------------------*/
\r
1193 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_vTaskDelete == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1195 void vTaskList( signed portCHAR *pcWriteBuffer )
\r
1197 unsigned portBASE_TYPE uxQueue;
\r
1199 /* This is a VERY costly function that should be used for debug only.
\r
1200 It leaves interrupts disabled for a LONG time. */
\r
1202 vTaskSuspendAll();
\r
1204 /* Run through all the lists that could potentially contain a TCB and
\r
1205 report the task name, state and stack high water mark. */
\r
1207 pcWriteBuffer[ 0 ] = ( signed portCHAR ) 0x00;
\r
1208 strcat( ( portCHAR * ) pcWriteBuffer, ( const portCHAR * ) "\r\n" );
\r
1210 uxQueue = uxTopUsedPriority + 1;
\r
1216 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1218 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1220 }while( uxQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
\r
1222 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1224 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1227 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1229 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1232 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1234 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1237 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1239 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1246 /*----------------------------------------------------------*/
\r
1248 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1250 void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize )
\r
1252 portENTER_CRITICAL();
\r
1254 pcTraceBuffer = ( signed portCHAR * )pcBuffer;
\r
1255 pcTraceBufferStart = pcBuffer;
\r
1256 pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
\r
1257 xTracing = pdTRUE;
\r
1259 portEXIT_CRITICAL();
\r
1263 /*----------------------------------------------------------*/
\r
1265 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1267 unsigned portLONG ulTaskEndTrace( void )
\r
1269 unsigned portLONG ulBufferLength;
\r
1271 portENTER_CRITICAL();
\r
1272 xTracing = pdFALSE;
\r
1273 portEXIT_CRITICAL();
\r
1275 ulBufferLength = ( unsigned portLONG ) ( pcTraceBuffer - pcTraceBufferStart );
\r
1277 return ulBufferLength;
\r
1284 /*-----------------------------------------------------------
\r
1285 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1286 * documented in task.h
\r
1287 *----------------------------------------------------------*/
\r
1290 void vTaskIncrementTick( void )
\r
1292 /* Called by the portable layer each time a tick interrupt occurs.
\r
1293 Increments the tick then checks to see if the new tick value will cause any
\r
1294 tasks to be unblocked. */
\r
1295 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1298 if( xTickCount == ( portTickType ) 0 )
\r
1302 /* Tick count has overflowed so we need to swap the delay lists.
\r
1303 If there are any items in pxDelayedTaskList here then there is
\r
1305 pxTemp = pxDelayedTaskList;
\r
1306 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1307 pxOverflowDelayedTaskList = pxTemp;
\r
1308 xNumOfOverflows++;
\r
1311 /* See if this tick has made a timeout expire. */
\r
1312 prvCheckDelayedTasks();
\r
1318 /* The tick hook gets called at regular intervals, even if the
\r
1319 scheduler is locked. */
\r
1320 #if ( configUSE_TICK_HOOK == 1 )
\r
1322 extern void vApplicationTickHook( void );
\r
1324 vApplicationTickHook();
\r
1329 #if ( configUSE_TICK_HOOK == 1 )
\r
1331 extern void vApplicationTickHook( void );
\r
1333 /* Guard against the tick hook being called when the missed tick
\r
1334 count is being unwound (when the scheduler is being unlocked. */
\r
1335 if( uxMissedTicks == 0 )
\r
1337 vApplicationTickHook();
\r
1342 traceTASK_INCREMENT_TICK( xTickCount );
\r
1344 /*-----------------------------------------------------------*/
\r
1346 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1348 void vTaskCleanUpResources( void )
\r
1350 unsigned portSHORT usQueue;
\r
1351 volatile tskTCB *pxTCB;
\r
1353 usQueue = ( unsigned portSHORT ) uxTopUsedPriority + ( unsigned portSHORT ) 1;
\r
1355 /* Remove any TCB's from the ready queues. */
\r
1360 while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
\r
1362 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
\r
1363 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1365 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1367 }while( usQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
\r
1369 /* Remove any TCB's from the delayed queue. */
\r
1370 while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
\r
1372 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
\r
1373 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1375 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1378 /* Remove any TCB's from the overflow delayed queue. */
\r
1379 while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
\r
1381 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
\r
1382 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1384 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1387 while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1389 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
\r
1390 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1392 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1397 /*-----------------------------------------------------------*/
\r
1399 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1401 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue )
\r
1405 /* If xTask is NULL then we are setting our own task hook. */
\r
1406 if( xTask == NULL )
\r
1408 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1412 xTCB = ( tskTCB * ) xTask;
\r
1415 /* Save the hook function in the TCB. */
\r
1416 portENTER_CRITICAL();
\r
1417 xTCB->pxTaskTag = pxTagValue;
\r
1418 portEXIT_CRITICAL();
\r
1422 /*-----------------------------------------------------------*/
\r
1424 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1426 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1429 portBASE_TYPE xReturn;
\r
1431 /* If xTask is NULL then we are calling our own task hook. */
\r
1432 if( xTask == NULL )
\r
1434 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1438 xTCB = ( tskTCB * ) xTask;
\r
1441 if( xTCB->pxTaskTag != NULL )
\r
1443 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1454 /*-----------------------------------------------------------*/
\r
1456 void vTaskSwitchContext( void )
\r
1458 traceTASK_SWITCHED_OUT();
\r
1460 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1462 /* The scheduler is currently suspended - do not allow a context
\r
1464 xMissedYield = pdTRUE;
\r
1468 taskCHECK_FOR_STACK_OVERFLOW();
\r
1470 /* Find the highest priority queue that contains ready tasks. */
\r
1471 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1473 --uxTopReadyPriority;
\r
1476 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1477 same priority get an equal share of the processor time. */
\r
1478 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1480 traceTASK_SWITCHED_IN();
\r
1481 vWriteTraceToBuffer();
\r
1483 /*-----------------------------------------------------------*/
\r
1485 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1487 portTickType xTimeToWake;
\r
1489 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1490 SCHEDULER SUSPENDED. */
\r
1492 /* Place the event list item of the TCB in the appropriate event list.
\r
1493 This is placed in the list in priority order so the highest priority task
\r
1494 is the first to be woken by the event. */
\r
1495 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1497 /* We must remove ourselves from the ready list before adding ourselves
\r
1498 to the blocked list as the same list item is used for both lists. We have
\r
1499 exclusive access to the ready lists as the scheduler is locked. */
\r
1500 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1503 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1505 if( xTicksToWait == portMAX_DELAY )
\r
1507 /* Add ourselves to the suspended task list instead of a delayed task
\r
1508 list to ensure we are not woken by a timing event. We will block
\r
1510 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1514 /* Calculate the time at which the task should be woken if the event does
\r
1515 not occur. This may overflow but this doesn't matter. */
\r
1516 xTimeToWake = xTickCount + xTicksToWait;
\r
1518 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1520 if( xTimeToWake < xTickCount )
\r
1522 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1523 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1527 /* The wake time has not overflowed, so we can use the current block list. */
\r
1528 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1534 /* Calculate the time at which the task should be woken if the event does
\r
1535 not occur. This may overflow but this doesn't matter. */
\r
1536 xTimeToWake = xTickCount + xTicksToWait;
\r
1538 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1540 if( xTimeToWake < xTickCount )
\r
1542 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1543 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1547 /* The wake time has not overflowed, so we can use the current block list. */
\r
1548 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1553 /*-----------------------------------------------------------*/
\r
1555 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1557 tskTCB *pxUnblockedTCB;
\r
1558 portBASE_TYPE xReturn;
\r
1560 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1561 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1563 /* The event list is sorted in priority order, so we can remove the
\r
1564 first in the list, remove the TCB from the delayed list, and add
\r
1565 it to the ready list.
\r
1567 If an event is for a queue that is locked then this function will never
\r
1568 get called - the lock count on the queue will get modified instead. This
\r
1569 means we can always expect exclusive access to the event list here. */
\r
1570 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1571 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1573 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1575 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1576 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1580 /* We cannot access the delayed or ready lists, so will hold this
\r
1581 task pending until the scheduler is resumed. */
\r
1582 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1585 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1587 /* Return true if the task removed from the event list has
\r
1588 a higher priority than the calling task. This allows
\r
1589 the calling task to know if it should force a context
\r
1595 xReturn = pdFALSE;
\r
1600 /*-----------------------------------------------------------*/
\r
1602 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1604 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1605 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1607 /*-----------------------------------------------------------*/
\r
1609 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1611 portBASE_TYPE xReturn;
\r
1613 portENTER_CRITICAL();
\r
1615 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1616 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1617 the maximum block time then the task should block indefinitely, and
\r
1618 therefore never time out. */
\r
1619 if( *pxTicksToWait == portMAX_DELAY )
\r
1621 xReturn = pdFALSE;
\r
1623 else /* We are not blocking indefinitely, perform the checks below. */
\r
1626 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xTickCount >= pxTimeOut->xTimeOnEntering ) )
\r
1628 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1629 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1630 It must have wrapped all the way around and gone past us again. This
\r
1631 passed since vTaskSetTimeout() was called. */
\r
1634 else if( ( xTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
1636 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1637 *pxTicksToWait -= ( xTickCount - pxTimeOut->xTimeOnEntering );
\r
1638 vTaskSetTimeOutState( pxTimeOut );
\r
1639 xReturn = pdFALSE;
\r
1646 portEXIT_CRITICAL();
\r
1650 /*-----------------------------------------------------------*/
\r
1652 void vTaskMissedYield( void )
\r
1654 xMissedYield = pdTRUE;
\r
1658 * -----------------------------------------------------------
\r
1660 * ----------------------------------------------------------
\r
1662 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1663 * language extensions. The equivalent prototype for this function is:
\r
1665 * void prvIdleTask( void *pvParameters );
\r
1668 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1670 /* Stop warnings. */
\r
1671 ( void ) pvParameters;
\r
1675 /* See if any tasks have been deleted. */
\r
1676 prvCheckTasksWaitingTermination();
\r
1678 #if ( configUSE_PREEMPTION == 0 )
\r
1680 /* If we are not using preemption we keep forcing a task switch to
\r
1681 see if any other task has become available. If we are using
\r
1682 preemption we don't need to do this as any task becoming available
\r
1683 will automatically get the processor anyway. */
\r
1688 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1690 /* When using preemption tasks of equal priority will be
\r
1691 timesliced. If a task that is sharing the idle priority is ready
\r
1692 to run then the idle task should yield before the end of the
\r
1695 A critical region is not required here as we are just reading from
\r
1696 the list, and an occasional incorrect value will not matter. If
\r
1697 the ready list at the idle priority contains more than one task
\r
1698 then a task other than the idle task is ready to execute. */
\r
1699 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1706 #if ( configUSE_IDLE_HOOK == 1 )
\r
1708 extern void vApplicationIdleHook( void );
\r
1710 /* Call the user defined function from within the idle task. This
\r
1711 allows the application designer to add background functionality
\r
1712 without the overhead of a separate task.
\r
1713 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1714 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1715 vApplicationIdleHook();
\r
1719 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1727 /*-----------------------------------------------------------
\r
1728 * File private functions documented at the top of the file.
\r
1729 *----------------------------------------------------------*/
\r
1733 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority )
\r
1735 /* Store the function name in the TCB. */
\r
1736 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned portSHORT ) configMAX_TASK_NAME_LEN );
\r
1737 pxTCB->pcTaskName[ ( unsigned portSHORT ) configMAX_TASK_NAME_LEN - ( unsigned portSHORT ) 1 ] = '\0';
\r
1739 /* This is used as an array index so must ensure it's not too large. */
\r
1740 if( uxPriority >= configMAX_PRIORITIES )
\r
1742 uxPriority = configMAX_PRIORITIES - 1;
\r
1745 pxTCB->uxPriority = uxPriority;
\r
1746 #if ( configUSE_MUTEXES == 1 )
\r
1748 pxTCB->uxBasePriority = uxPriority;
\r
1752 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
1753 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
1755 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
1756 back to the containing TCB from a generic item in a list. */
\r
1757 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
1759 /* Event lists are always in priority order. */
\r
1760 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
1761 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
1763 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
1765 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
\r
1769 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1771 pxTCB->pxTaskTag = NULL;
\r
1775 /*-----------------------------------------------------------*/
\r
1777 static void prvInitialiseTaskLists( void )
\r
1779 unsigned portBASE_TYPE uxPriority;
\r
1781 for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
1783 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
1786 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
1787 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
1788 vListInitialise( ( xList * ) &xPendingReadyList );
\r
1790 #if ( INCLUDE_vTaskDelete == 1 )
\r
1792 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
1796 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1798 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
1802 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
1804 pxDelayedTaskList = &xDelayedTaskList1;
\r
1805 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
1807 /*-----------------------------------------------------------*/
\r
1809 static void prvCheckTasksWaitingTermination( void )
\r
1811 #if ( INCLUDE_vTaskDelete == 1 )
\r
1813 portBASE_TYPE xListIsEmpty;
\r
1815 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
1816 too often in the idle task. */
\r
1817 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
\r
1819 vTaskSuspendAll();
\r
1820 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
1823 if( !xListIsEmpty )
\r
1827 portENTER_CRITICAL();
\r
1829 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
1830 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1831 --uxCurrentNumberOfTasks;
\r
1834 portEXIT_CRITICAL();
\r
1836 prvDeleteTCB( pxTCB );
\r
1842 /*-----------------------------------------------------------*/
\r
1844 static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth )
\r
1848 /* Allocate space for the TCB. Where the memory comes from depends on
\r
1849 the implementation of the port malloc function. */
\r
1850 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
1852 if( pxNewTCB != NULL )
\r
1854 /* Allocate space for the stack used by the task being created.
\r
1855 The base of the stack memory stored in the TCB so the task can
\r
1856 be deleted later if required. */
\r
1857 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMalloc( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) );
\r
1859 if( pxNewTCB->pxStack == NULL )
\r
1861 /* Could not allocate the stack. Delete the allocated TCB. */
\r
1862 vPortFree( pxNewTCB );
\r
1867 /* Just to help debugging. */
\r
1868 memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
\r
1874 /*-----------------------------------------------------------*/
\r
1876 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1878 static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus )
\r
1880 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
1881 static portCHAR pcStatusString[ 50 ];
\r
1882 unsigned portSHORT usStackRemaining;
\r
1884 /* Write the details of all the TCB's in pxList into the buffer. */
\r
1885 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
1888 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
1889 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned portCHAR * ) pxNextTCB->pxStack );
\r
1890 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
1891 strcat( ( portCHAR * ) pcWriteBuffer, ( portCHAR * ) pcStatusString );
\r
1893 } while( pxNextTCB != pxFirstTCB );
\r
1897 /*-----------------------------------------------------------*/
\r
1899 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
1901 unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte )
\r
1903 register unsigned portSHORT usCount = 0;
\r
1905 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
1907 pucStackByte -= portSTACK_GROWTH;
\r
1911 usCount /= sizeof( portSTACK_TYPE );
\r
1917 /*-----------------------------------------------------------*/
\r
1919 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
1921 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
1925 pxTCB = prvGetTCBFromHandle( xTask );
\r
1926 return usTaskCheckFreeStackSpace( ( unsigned portCHAR * ) pxTCB->pxStack );
\r
1930 /*-----------------------------------------------------------*/
\r
1932 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
\r
1934 static void prvDeleteTCB( tskTCB *pxTCB )
\r
1936 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
1937 the task to free any memory allocated at the application level. */
\r
1938 vPortFree( pxTCB->pxStack );
\r
1939 vPortFree( pxTCB );
\r
1945 /*-----------------------------------------------------------*/
\r
1947 #if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
\r
1949 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
1951 xTaskHandle xReturn;
\r
1953 portENTER_CRITICAL();
\r
1955 xReturn = ( xTaskHandle ) pxCurrentTCB;
\r
1957 portEXIT_CRITICAL();
\r
1964 /*-----------------------------------------------------------*/
\r
1966 #if ( INCLUDE_xTaskGetSchedulerState == 1 )
\r
1968 portBASE_TYPE xTaskGetSchedulerState( void )
\r
1970 portBASE_TYPE xReturn;
\r
1972 if( xSchedulerRunning == pdFALSE )
\r
1974 xReturn = taskSCHEDULER_NOT_STARTED;
\r
1978 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1980 xReturn = taskSCHEDULER_RUNNING;
\r
1984 xReturn = taskSCHEDULER_SUSPENDED;
\r
1992 /*-----------------------------------------------------------*/
\r
1994 #if ( configUSE_MUTEXES == 1 )
\r
1996 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
1998 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2000 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2002 /* Adjust the mutex holder state to account for its new priority. */
\r
2003 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2005 /* If the task being modified is in the ready state it will need to
\r
2006 be moved in to a new list. */
\r
2007 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
2009 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2011 /* Inherit the priority before being moved into the new list. */
\r
2012 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2013 prvAddTaskToReadyQueue( pxTCB );
\r
2017 /* Just inherit the priority. */
\r
2018 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2024 /*-----------------------------------------------------------*/
\r
2026 #if ( configUSE_MUTEXES == 1 )
\r
2028 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2030 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2032 if( pxMutexHolder != NULL )
\r
2034 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2036 /* We must be the running task to be able to give the mutex back.
\r
2037 Remove ourselves from the ready list we currently appear in. */
\r
2038 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2040 /* Disinherit the priority before adding ourselves into the new
\r
2042 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2043 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2044 prvAddTaskToReadyQueue( pxTCB );
\r
2050 /*-----------------------------------------------------------*/
\r
2052 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2054 void vTaskEnterCritical( void )
\r
2056 portDISABLE_INTERRUPTS();
\r
2058 if( xSchedulerRunning != pdFALSE )
\r
2060 pxCurrentTCB->uxCriticalNesting++;
\r
2065 /*-----------------------------------------------------------*/
\r
2067 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2069 void vTaskExitCritical( void )
\r
2071 if( xSchedulerRunning != pdFALSE )
\r
2073 if( pxCurrentTCB->uxCriticalNesting > 0 )
\r
2075 pxCurrentTCB->uxCriticalNesting--;
\r
2077 if( pxCurrentTCB->uxCriticalNesting == 0 )
\r
2079 portENABLE_INTERRUPTS();
\r
2086 /*-----------------------------------------------------------*/
\r
projects / freertos / blob