2 FreeRTOS.org V4.8.0 - Copyright (C) 2003-2008 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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27 ***************************************************************************
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29 * SAVE TIME AND MONEY! Why not get us to quote to get FreeRTOS.org *
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30 * running on your hardware - or even write all or part of your application*
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31 * for you? See http://www.OpenRTOS.com for details. *
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33 ***************************************************************************
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34 ***************************************************************************
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36 Please ensure to read the configuration and relevant port sections of the
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37 online documentation.
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39 http://www.FreeRTOS.org - Documentation, latest information, license and
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42 http://www.SafeRTOS.com - A version that is certified for use in safety
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45 http://www.OpenRTOS.com - Commercial support, development, porting,
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46 licensing and training services.
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54 #include "FreeRTOS.h"
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58 * Macro to define the amount of stack available to the idle task.
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60 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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64 * Default a definitions for backwards compatibility with old
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65 * portmacro.h files.
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67 #ifndef configMAX_TASK_NAME_LEN
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68 #define configMAX_TASK_NAME_LEN 16
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71 #ifndef configIDLE_SHOULD_YIELD
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72 #define configIDLE_SHOULD_YIELD 1
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75 #if configMAX_TASK_NAME_LEN < 1
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76 #undef configMAX_TASK_NAME_LEN
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77 #define configMAX_TASK_NAME_LEN 1
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80 #ifndef INCLUDE_xTaskResumeFromISR
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81 #define INCLUDE_xTaskResumeFromISR 1
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84 #ifndef INCLUDE_xTaskGetSchedulerState
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85 #define INCLUDE_xTaskGetSchedulerState 0
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89 * Task control block. A task control block (TCB) is allocated to each task,
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90 * and stores the context of the task.
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92 typedef struct tskTaskControlBlock
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94 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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95 xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
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96 xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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97 unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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98 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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99 signed portCHAR pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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101 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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102 unsigned portBASE_TYPE uxCriticalNesting;
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105 #if ( configUSE_TRACE_FACILITY == 1 )
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106 unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
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109 #if ( configUSE_MUTEXES == 1 )
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110 unsigned portBASE_TYPE uxBasePriority;
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117 tskTCB * volatile pxCurrentTCB = NULL;
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119 /* Lists for ready and blocked tasks. --------------------*/
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121 static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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122 static xList xDelayedTaskList1; /*< Delayed tasks. */
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123 static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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124 static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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125 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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126 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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128 #if ( INCLUDE_vTaskDelete == 1 )
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130 static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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131 static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
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135 #if ( INCLUDE_vTaskSuspend == 1 )
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137 static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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141 /* File private variables. --------------------------------*/
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142 static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
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143 static volatile portTickType xTickCount = ( portTickType ) 0;
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144 static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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145 static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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146 static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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147 static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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148 static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
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149 static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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150 static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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151 /* Debugging and trace facilities private variables and macros. ------------*/
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154 * The value used to fill the stack of a task when the task is created. This
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155 * is used purely for checking the high water mark for tasks.
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157 #define tskSTACK_FILL_BYTE ( 0xa5 )
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160 * Macros used by vListTask to indicate which state a task is in.
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162 #define tskBLOCKED_CHAR ( ( signed portCHAR ) 'B' )
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163 #define tskREADY_CHAR ( ( signed portCHAR ) 'R' )
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164 #define tskDELETED_CHAR ( ( signed portCHAR ) 'D' )
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165 #define tskSUSPENDED_CHAR ( ( signed portCHAR ) 'S' )
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168 * Macros and private variables used by the trace facility.
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170 #if ( configUSE_TRACE_FACILITY == 1 )
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172 #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned portLONG ) ( sizeof( unsigned portLONG ) + sizeof( unsigned portLONG ) ) )
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173 static volatile signed portCHAR * volatile pcTraceBuffer;
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174 static signed portCHAR *pcTraceBufferStart;
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175 static signed portCHAR *pcTraceBufferEnd;
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176 static signed portBASE_TYPE xTracing = pdFALSE;
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180 /*-----------------------------------------------------------*/
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183 * Macro that writes a trace of scheduler activity to a buffer. This trace
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184 * shows which task is running when and is very useful as a debugging tool.
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185 * As this macro is called each context switch it is a good idea to undefine
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186 * it if not using the facility.
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188 #if ( configUSE_TRACE_FACILITY == 1 )
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190 #define vWriteTraceToBuffer() \
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194 static unsigned portBASE_TYPE uxPreviousTask = 255; \
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196 if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
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198 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
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200 uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
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201 *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) xTickCount; \
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202 pcTraceBuffer += sizeof( unsigned portLONG ); \
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203 *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) uxPreviousTask; \
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204 pcTraceBuffer += sizeof( unsigned portLONG ); \
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208 xTracing = pdFALSE; \
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216 #define vWriteTraceToBuffer()
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219 /*-----------------------------------------------------------*/
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222 * Place the task represented by pxTCB into the appropriate ready queue for
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223 * the task. It is inserted at the end of the list. One quirk of this is
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224 * that if the task being inserted is at the same priority as the currently
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225 * executing task, then it will only be rescheduled after the currently
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226 * executing task has been rescheduled.
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228 #define prvAddTaskToReadyQueue( pxTCB ) \
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230 if( pxTCB->uxPriority > uxTopReadyPriority ) \
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232 uxTopReadyPriority = pxTCB->uxPriority; \
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234 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \
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236 /*-----------------------------------------------------------*/
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239 * Macro that looks at the list of tasks that are currently delayed to see if
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240 * any require waking.
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242 * Tasks are stored in the queue in the order of their wake time - meaning
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243 * once one tasks has been found whose timer has not expired we need not look
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244 * any further down the list.
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246 #define prvCheckDelayedTasks() \
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248 register tskTCB *pxTCB; \
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250 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \
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252 if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \
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256 vListRemove( &( pxTCB->xGenericListItem ) ); \
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257 /* Is the task waiting on an event also? */ \
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258 if( pxTCB->xEventListItem.pvContainer ) \
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260 vListRemove( &( pxTCB->xEventListItem ) ); \
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262 prvAddTaskToReadyQueue( pxTCB ); \
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265 /*-----------------------------------------------------------*/
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268 * Call the stack overflow hook function if the stack of the task being swapped
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269 * out is currently overflowed, or looks like it might have overflowed in the
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272 * Setting configCHECK_FOR_STACK_OVERFLOW to 1 will cause the macro to check
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273 * the current stack state only - comparing the current top of stack value to
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274 * the stack limit. Setting configCHECK_FOR_STACK_OVERFLOW to greater than 1
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275 * will also cause the last few stack bytes to be checked to ensure the value
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276 * to which the bytes were set when the task was created have not been
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277 * overwritten. Note this second test does not guarantee that an overflowed
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278 * stack will always be recognised.
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281 #if( configCHECK_FOR_STACK_OVERFLOW == 0 )
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283 /* FreeRTOSConfig.h is not set to check for stack overflows. */
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284 #define taskCHECK_FOR_STACK_OVERFLOW()
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286 #endif /* configCHECK_FOR_STACK_OVERFLOW == 0 */
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288 #if( ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH >= 0 ) )
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290 /* This is an invalid setting. */
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291 #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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293 #endif /* ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH >= 0 ) */
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295 #if( configCHECK_FOR_STACK_OVERFLOW == 1 )
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297 /* Only the current stack state is to be checked. */
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298 #define taskCHECK_FOR_STACK_OVERFLOW() \
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300 extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName ); \
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302 /* Is the currently saved stack pointer within the stack limit? */ \
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303 if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \
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305 vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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309 #endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
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311 #if( configCHECK_FOR_STACK_OVERFLOW > 1 )
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313 /* Both the current statck state and the stack fill bytes are to be checked. */
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314 #define taskCHECK_FOR_STACK_OVERFLOW() \
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316 extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName ); \
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317 static const unsigned portCHAR ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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318 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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319 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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320 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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321 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \
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323 /* Is the currently saved stack pointer within the stack limit? */ \
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324 if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \
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326 vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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329 /* Has the extremity of the task stack ever been written over? */ \
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330 if( memcmp( ( void * ) pxCurrentTCB->pxStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \
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332 vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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336 #endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
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338 /*-----------------------------------------------------------*/
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341 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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342 * where NULL is used to indicate that the handle of the currently executing
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343 * task should be used in place of the parameter. This macro simply checks to
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344 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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346 #define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )
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349 /* File private functions. --------------------------------*/
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352 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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353 * into the TCB structure.
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355 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority );
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358 * Utility to ready all the lists used by the scheduler. This is called
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359 * automatically upon the creation of the first task.
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361 static void prvInitialiseTaskLists( void );
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364 * The idle task, which as all tasks is implemented as a never ending loop.
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365 * The idle task is automatically created and added to the ready lists upon
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366 * creation of the first user task.
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368 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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369 * language extensions. The equivalent prototype for this function is:
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371 * void prvIdleTask( void *pvParameters );
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374 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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377 * Utility to free all memory allocated by the scheduler to hold a TCB,
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378 * including the stack pointed to by the TCB.
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380 * This does not free memory allocated by the task itself (i.e. memory
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381 * allocated by calls to pvPortMalloc from within the tasks application code).
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383 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
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384 static void prvDeleteTCB( tskTCB *pxTCB );
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388 * Used only by the idle task. This checks to see if anything has been placed
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389 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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390 * and its TCB deleted.
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392 static void prvCheckTasksWaitingTermination( void );
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395 * Allocates memory from the heap for a TCB and associated stack. Checks the
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396 * allocation was successful.
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398 static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );
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401 * Called from vTaskList. vListTasks details all the tasks currently under
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402 * control of the scheduler. The tasks may be in one of a number of lists.
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403 * prvListTaskWithinSingleList accepts a list and details the tasks from
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404 * within just that list.
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406 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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407 * NORMAL APPLICATION CODE.
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409 #if ( configUSE_TRACE_FACILITY == 1 )
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411 static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus );
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416 * When a task is created, the stack of the task is filled with a known value.
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417 * This function determines the 'high water mark' of the task stack by
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418 * determining how much of the stack remains at the original preset value.
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420 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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422 unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte );
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427 * Checks that a task being resumed (unsuspended) is actually in the Suspended
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430 #if ( INCLUDE_vTaskSuspend == 1 )
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432 static portBASE_TYPE prvIsTaskSuspended( const tskTCB * const pxTCB );
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440 /*-----------------------------------------------------------
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441 * TASK CREATION API documented in task.h
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442 *----------------------------------------------------------*/
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444 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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446 signed portBASE_TYPE xReturn;
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448 #if ( configUSE_TRACE_FACILITY == 1 )
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449 static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberate - this is guarded before use. */
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452 /* Allocate the memory required by the TCB and stack for the new task.
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453 checking that the allocation was successful. */
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454 pxNewTCB = prvAllocateTCBAndStack( usStackDepth );
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456 if( pxNewTCB != NULL )
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458 portSTACK_TYPE *pxTopOfStack;
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460 /* Setup the newly allocated TCB with the initial state of the task. */
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461 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority );
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463 /* Calculate the top of stack address. This depends on whether the
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464 stack grows from high memory to low (as per the 80x86) or visa versa.
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465 portSTACK_GROWTH is used to make the result positive or negative as
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466 required by the port. */
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467 #if portSTACK_GROWTH < 0
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469 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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473 pxTopOfStack = pxNewTCB->pxStack;
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477 /* Initialize the TCB stack to look as if the task was already running,
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478 but had been interrupted by the scheduler. The return address is set
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479 to the start of the task function. Once the stack has been initialised
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480 the top of stack variable is updated. */
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481 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pvTaskCode, pvParameters );
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483 /* We are going to manipulate the task queues to add this task to a
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484 ready list, so must make sure no interrupts occur. */
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485 portENTER_CRITICAL();
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487 uxCurrentNumberOfTasks++;
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488 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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490 /* As this is the first task it must also be the current task. */
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491 pxCurrentTCB = pxNewTCB;
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493 /* This is the first task to be created so do the preliminary
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494 initialisation required. We will not recover if this call
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495 fails, but we will report the failure. */
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496 prvInitialiseTaskLists();
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500 /* If the scheduler is not already running, make this task the
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501 current task if it is the highest priority task to be created
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503 if( xSchedulerRunning == pdFALSE )
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505 if( pxCurrentTCB->uxPriority <= uxPriority )
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507 pxCurrentTCB = pxNewTCB;
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512 /* Remember the top priority to make context switching faster. Use
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513 the priority in pxNewTCB as this has been capped to a valid value. */
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514 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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516 uxTopUsedPriority = pxNewTCB->uxPriority;
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519 #if ( configUSE_TRACE_FACILITY == 1 )
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521 /* Add a counter into the TCB for tracing only. */
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522 pxNewTCB->uxTCBNumber = uxTaskNumber;
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527 prvAddTaskToReadyQueue( pxNewTCB );
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530 traceTASK_CREATE( pxNewTCB );
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532 portEXIT_CRITICAL();
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536 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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537 traceTASK_CREATE_FAILED( pxNewTCB );
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540 if( xReturn == pdPASS )
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542 if( ( void * ) pxCreatedTask != NULL )
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544 /* Pass the TCB out - in an anonymous way. The calling function/
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545 task can use this as a handle to delete the task later if
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547 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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550 if( xSchedulerRunning != pdFALSE )
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552 /* If the created task is of a higher priority than the current task
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553 then it should run now. */
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554 if( pxCurrentTCB->uxPriority < uxPriority )
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563 /*-----------------------------------------------------------*/
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565 #if ( INCLUDE_vTaskDelete == 1 )
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567 void vTaskDelete( xTaskHandle pxTaskToDelete )
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571 taskENTER_CRITICAL();
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573 /* Ensure a yield is performed if the current task is being
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575 if( pxTaskToDelete == pxCurrentTCB )
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577 pxTaskToDelete = NULL;
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580 /* If null is passed in here then we are deleting ourselves. */
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581 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
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583 traceTASK_DELETE( pxTCB );
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585 /* Remove task from the ready list and place in the termination list.
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586 This will stop the task from be scheduled. The idle task will check
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587 the termination list and free up any memory allocated by the
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588 scheduler for the TCB and stack. */
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589 vListRemove( &( pxTCB->xGenericListItem ) );
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591 /* Is the task waiting on an event also? */
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592 if( pxTCB->xEventListItem.pvContainer )
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594 vListRemove( &( pxTCB->xEventListItem ) );
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597 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
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599 /* Increment the ucTasksDeleted variable so the idle task knows
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600 there is a task that has been deleted and that it should therefore
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601 check the xTasksWaitingTermination list. */
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604 taskEXIT_CRITICAL();
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606 /* Force a reschedule if we have just deleted the current task. */
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607 if( xSchedulerRunning != pdFALSE )
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609 if( ( void * ) pxTaskToDelete == NULL )
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623 /*-----------------------------------------------------------
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624 * TASK CONTROL API documented in task.h
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625 *----------------------------------------------------------*/
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627 #if ( INCLUDE_vTaskDelayUntil == 1 )
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629 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
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631 portTickType xTimeToWake;
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632 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
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636 /* Generate the tick time at which the task wants to wake. */
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637 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
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639 if( xTickCount < *pxPreviousWakeTime )
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641 /* The tick count has overflowed since this function was
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642 lasted called. In this case the only time we should ever
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643 actually delay is if the wake time has also overflowed,
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644 and the wake time is greater than the tick time. When this
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645 is the case it is as if neither time had overflowed. */
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646 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
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648 xShouldDelay = pdTRUE;
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653 /* The tick time has not overflowed. In this case we will
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654 delay if either the wake time has overflowed, and/or the
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655 tick time is less than the wake time. */
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656 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
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658 xShouldDelay = pdTRUE;
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662 /* Update the wake time ready for the next call. */
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663 *pxPreviousWakeTime = xTimeToWake;
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667 traceTASK_DELAY_UNTIL();
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669 /* We must remove ourselves from the ready list before adding
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670 ourselves to the blocked list as the same list item is used for
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672 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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674 /* The list item will be inserted in wake time order. */
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675 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
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677 if( xTimeToWake < xTickCount )
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679 /* Wake time has overflowed. Place this item in the
\r
681 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
685 /* The wake time has not overflowed, so we can use the
\r
686 current block list. */
\r
687 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
691 xAlreadyYielded = xTaskResumeAll();
\r
693 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
694 have put ourselves to sleep. */
\r
695 if( !xAlreadyYielded )
\r
702 /*-----------------------------------------------------------*/
\r
704 #if ( INCLUDE_vTaskDelay == 1 )
\r
706 void vTaskDelay( portTickType xTicksToDelay )
\r
708 portTickType xTimeToWake;
\r
709 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
711 /* A delay time of zero just forces a reschedule. */
\r
712 if( xTicksToDelay > ( portTickType ) 0 )
\r
718 /* A task that is removed from the event list while the
\r
719 scheduler is suspended will not get placed in the ready
\r
720 list or removed from the blocked list until the scheduler
\r
723 This task cannot be in an event list as it is the currently
\r
726 /* Calculate the time to wake - this may overflow but this is
\r
728 xTimeToWake = xTickCount + xTicksToDelay;
\r
730 /* We must remove ourselves from the ready list before adding
\r
731 ourselves to the blocked list as the same list item is used for
\r
733 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
735 /* The list item will be inserted in wake time order. */
\r
736 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
738 if( xTimeToWake < xTickCount )
\r
740 /* Wake time has overflowed. Place this item in the
\r
742 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
746 /* The wake time has not overflowed, so we can use the
\r
747 current block list. */
\r
748 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
751 xAlreadyYielded = xTaskResumeAll();
\r
754 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
755 have put ourselves to sleep. */
\r
756 if( !xAlreadyYielded )
\r
763 /*-----------------------------------------------------------*/
\r
765 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
767 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
770 unsigned portBASE_TYPE uxReturn;
\r
772 taskENTER_CRITICAL();
\r
774 /* If null is passed in here then we are changing the
\r
775 priority of the calling function. */
\r
776 pxTCB = prvGetTCBFromHandle( pxTask );
\r
777 uxReturn = pxTCB->uxPriority;
\r
779 taskEXIT_CRITICAL();
\r
785 /*-----------------------------------------------------------*/
\r
787 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
789 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
792 unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
\r
794 /* Ensure the new priority is valid. */
\r
795 if( uxNewPriority >= configMAX_PRIORITIES )
\r
797 uxNewPriority = configMAX_PRIORITIES - 1;
\r
800 taskENTER_CRITICAL();
\r
802 /* If null is passed in here then we are changing the
\r
803 priority of the calling function. */
\r
804 pxTCB = prvGetTCBFromHandle( pxTask );
\r
806 traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
\r
808 #if ( configUSE_MUTEXES == 1 )
\r
810 uxCurrentPriority = pxTCB->uxBasePriority;
\r
814 uxCurrentPriority = pxTCB->uxPriority;
\r
818 if( uxCurrentPriority != uxNewPriority )
\r
820 /* The priority change may have readied a task of higher
\r
821 priority than the calling task. */
\r
822 if( uxNewPriority > uxCurrentPriority )
\r
824 if( pxTask != NULL )
\r
826 /* The priority of another task is being raised. If we
\r
827 were raising the priority of the currently running task
\r
828 there would be no need to switch as it must have already
\r
829 been the highest priority task. */
\r
830 xYieldRequired = pdTRUE;
\r
833 else if( pxTask == NULL )
\r
835 /* Setting our own priority down means there may now be another
\r
836 task of higher priority that is ready to execute. */
\r
837 xYieldRequired = pdTRUE;
\r
842 #if ( configUSE_MUTEXES == 1 )
\r
844 /* Only change the priority being used if the task is not
\r
845 currently using an inherited priority. */
\r
846 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
848 pxTCB->uxPriority = uxNewPriority;
\r
851 /* The base priority gets set whatever. */
\r
852 pxTCB->uxBasePriority = uxNewPriority;
\r
856 pxTCB->uxPriority = uxNewPriority;
\r
860 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
862 /* If the task is in the blocked or suspended list we need do
\r
863 nothing more than change it's priority variable. However, if
\r
864 the task is in a ready list it needs to be removed and placed
\r
865 in the queue appropriate to its new priority. */
\r
866 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
868 /* The task is currently in its ready list - remove before adding
\r
869 it to it's new ready list. As we are in a critical section we
\r
870 can do this even if the scheduler is suspended. */
\r
871 vListRemove( &( pxTCB->xGenericListItem ) );
\r
872 prvAddTaskToReadyQueue( pxTCB );
\r
875 if( xYieldRequired == pdTRUE )
\r
881 taskEXIT_CRITICAL();
\r
885 /*-----------------------------------------------------------*/
\r
887 #if ( INCLUDE_vTaskSuspend == 1 )
\r
889 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
893 taskENTER_CRITICAL();
\r
895 /* Ensure a yield is performed if the current task is being
\r
897 if( pxTaskToSuspend == pxCurrentTCB )
\r
899 pxTaskToSuspend = NULL;
\r
902 /* If null is passed in here then we are suspending ourselves. */
\r
903 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
905 traceTASK_SUSPEND( pxTaskToSuspend );
\r
907 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
908 vListRemove( &( pxTCB->xGenericListItem ) );
\r
910 /* Is the task waiting on an event also? */
\r
911 if( pxTCB->xEventListItem.pvContainer )
\r
913 vListRemove( &( pxTCB->xEventListItem ) );
\r
916 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
918 taskEXIT_CRITICAL();
\r
920 /* We may have just suspended the current task. */
\r
921 if( ( void * ) pxTaskToSuspend == NULL )
\r
928 /*-----------------------------------------------------------*/
\r
930 #if ( INCLUDE_vTaskSuspend == 1 )
\r
932 static portBASE_TYPE prvIsTaskSuspended( const tskTCB * const pxTCB )
\r
934 portBASE_TYPE xReturn = pdFALSE;
\r
936 /* Is the task we are attempting to resume actually in the
\r
938 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
940 /* Has the task already been resumed from within an ISR? */
\r
941 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
943 /* Is it in the suspended list because it is in the
\r
944 Suspended state? It is possible to be in the suspended
\r
945 list because it is blocked on a task with no timeout
\r
947 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
958 /*-----------------------------------------------------------*/
\r
960 #if ( INCLUDE_vTaskSuspend == 1 )
\r
962 void vTaskResume( xTaskHandle pxTaskToResume )
\r
966 /* Remove the task from whichever list it is currently in, and place
\r
967 it in the ready list. */
\r
968 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
970 /* The parameter cannot be NULL as it is impossible to resume the
\r
971 currently executing task. */
\r
972 if( pxTCB != NULL )
\r
974 taskENTER_CRITICAL();
\r
976 if( prvIsTaskSuspended( pxTCB ) == pdTRUE )
\r
978 traceTASK_RESUME( pxTCB );
\r
980 /* As we are in a critical section we can access the ready
\r
981 lists even if the scheduler is suspended. */
\r
982 vListRemove( &( pxTCB->xGenericListItem ) );
\r
983 prvAddTaskToReadyQueue( pxTCB );
\r
985 /* We may have just resumed a higher priority task. */
\r
986 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
988 /* This yield may not cause the task just resumed to run, but
\r
989 will leave the lists in the correct state for the next yield. */
\r
994 taskEXIT_CRITICAL();
\r
1000 /*-----------------------------------------------------------*/
\r
1002 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1004 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
1006 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1009 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1011 if( prvIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1013 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1015 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1017 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1018 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1019 prvAddTaskToReadyQueue( pxTCB );
\r
1023 /* We cannot access the delayed or ready lists, so will hold this
\r
1024 task pending until the scheduler is resumed, at which point a
\r
1025 yield will be performed if necessary. */
\r
1026 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1030 return xYieldRequired;
\r
1038 /*-----------------------------------------------------------
\r
1039 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1040 *----------------------------------------------------------*/
\r
1043 void vTaskStartScheduler( void )
\r
1045 portBASE_TYPE xReturn;
\r
1047 /* Add the idle task at the lowest priority. */
\r
1048 xReturn = xTaskCreate( prvIdleTask, ( signed portCHAR * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
\r
1050 if( xReturn == pdPASS )
\r
1052 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1053 before or during the call to xPortStartScheduler(). The stacks of
\r
1054 the created tasks contain a status word with interrupts switched on
\r
1055 so interrupts will automatically get re-enabled when the first task
\r
1058 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1059 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1060 portDISABLE_INTERRUPTS();
\r
1062 xSchedulerRunning = pdTRUE;
\r
1063 xTickCount = ( portTickType ) 0;
\r
1065 /* Setting up the timer tick is hardware specific and thus in the
\r
1066 portable interface. */
\r
1067 if( xPortStartScheduler() )
\r
1069 /* Should not reach here as if the scheduler is running the
\r
1070 function will not return. */
\r
1074 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1078 /*-----------------------------------------------------------*/
\r
1080 void vTaskEndScheduler( void )
\r
1082 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1083 routine so the original ISRs can be restored if necessary. The port
\r
1084 layer must ensure interrupts enable bit is left in the correct state. */
\r
1085 portDISABLE_INTERRUPTS();
\r
1086 xSchedulerRunning = pdFALSE;
\r
1087 vPortEndScheduler();
\r
1089 /*----------------------------------------------------------*/
\r
1091 void vTaskSuspendAll( void )
\r
1093 portENTER_CRITICAL();
\r
1094 ++uxSchedulerSuspended;
\r
1095 portEXIT_CRITICAL();
\r
1097 /*----------------------------------------------------------*/
\r
1099 signed portBASE_TYPE xTaskResumeAll( void )
\r
1101 register tskTCB *pxTCB;
\r
1102 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1104 /* It is possible that an ISR caused a task to be removed from an event
\r
1105 list while the scheduler was suspended. If this was the case then the
\r
1106 removed task will have been added to the xPendingReadyList. Once the
\r
1107 scheduler has been resumed it is safe to move all the pending ready
\r
1108 tasks from this list into their appropriate ready list. */
\r
1109 portENTER_CRITICAL();
\r
1111 --uxSchedulerSuspended;
\r
1113 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1115 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
\r
1117 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1119 /* Move any readied tasks from the pending list into the
\r
1120 appropriate ready list. */
\r
1121 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL )
\r
1123 vListRemove( &( pxTCB->xEventListItem ) );
\r
1124 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1125 prvAddTaskToReadyQueue( pxTCB );
\r
1127 /* If we have moved a task that has a priority higher than
\r
1128 the current task then we should yield. */
\r
1129 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1131 xYieldRequired = pdTRUE;
\r
1135 /* If any ticks occurred while the scheduler was suspended then
\r
1136 they should be processed now. This ensures the tick count does not
\r
1137 slip, and that any delayed tasks are resumed at the correct time. */
\r
1138 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1140 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1142 vTaskIncrementTick();
\r
1146 /* As we have processed some ticks it is appropriate to yield
\r
1147 to ensure the highest priority task that is ready to run is
\r
1148 the task actually running. */
\r
1149 #if configUSE_PREEMPTION == 1
\r
1151 xYieldRequired = pdTRUE;
\r
1156 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1158 xAlreadyYielded = pdTRUE;
\r
1159 xMissedYield = pdFALSE;
\r
1165 portEXIT_CRITICAL();
\r
1167 return xAlreadyYielded;
\r
1175 /*-----------------------------------------------------------
\r
1176 * PUBLIC TASK UTILITIES documented in task.h
\r
1177 *----------------------------------------------------------*/
\r
1181 portTickType xTaskGetTickCount( void )
\r
1183 portTickType xTicks;
\r
1185 /* Critical section required if running on a 16 bit processor. */
\r
1186 taskENTER_CRITICAL();
\r
1188 xTicks = xTickCount;
\r
1190 taskEXIT_CRITICAL();
\r
1194 /*-----------------------------------------------------------*/
\r
1196 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1198 unsigned portBASE_TYPE uxNumberOfTasks;
\r
1200 taskENTER_CRITICAL();
\r
1201 uxNumberOfTasks = uxCurrentNumberOfTasks;
\r
1202 taskEXIT_CRITICAL();
\r
1204 return uxNumberOfTasks;
\r
1206 /*-----------------------------------------------------------*/
\r
1208 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_vTaskDelete == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1210 void vTaskList( signed portCHAR *pcWriteBuffer )
\r
1212 unsigned portBASE_TYPE uxQueue;
\r
1214 /* This is a VERY costly function that should be used for debug only.
\r
1215 It leaves interrupts disabled for a LONG time. */
\r
1217 vTaskSuspendAll();
\r
1219 /* Run through all the lists that could potentially contain a TCB and
\r
1220 report the task name, state and stack high water mark. */
\r
1222 pcWriteBuffer[ 0 ] = ( signed portCHAR ) 0x00;
\r
1223 strcat( ( portCHAR * ) pcWriteBuffer, ( const portCHAR * ) "\r\n" );
\r
1225 uxQueue = uxTopUsedPriority + 1;
\r
1231 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1233 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1235 }while( uxQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
\r
1237 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1239 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1242 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1244 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1247 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1249 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1252 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1254 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1261 /*----------------------------------------------------------*/
\r
1263 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1265 void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize )
\r
1267 portENTER_CRITICAL();
\r
1269 pcTraceBuffer = ( signed portCHAR * )pcBuffer;
\r
1270 pcTraceBufferStart = pcBuffer;
\r
1271 pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
\r
1272 xTracing = pdTRUE;
\r
1274 portEXIT_CRITICAL();
\r
1278 /*----------------------------------------------------------*/
\r
1280 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1282 unsigned portLONG ulTaskEndTrace( void )
\r
1284 unsigned portLONG ulBufferLength;
\r
1286 portENTER_CRITICAL();
\r
1287 xTracing = pdFALSE;
\r
1288 portEXIT_CRITICAL();
\r
1290 ulBufferLength = ( unsigned portLONG ) ( pcTraceBuffer - pcTraceBufferStart );
\r
1292 return ulBufferLength;
\r
1299 /*-----------------------------------------------------------
\r
1300 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1301 * documented in task.h
\r
1302 *----------------------------------------------------------*/
\r
1305 inline void vTaskIncrementTick( void )
\r
1307 /* Called by the portable layer each time a tick interrupt occurs.
\r
1308 Increments the tick then checks to see if the new tick value will cause any
\r
1309 tasks to be unblocked. */
\r
1310 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1313 if( xTickCount == ( portTickType ) 0 )
\r
1317 /* Tick count has overflowed so we need to swap the delay lists.
\r
1318 If there are any items in pxDelayedTaskList here then there is
\r
1320 pxTemp = pxDelayedTaskList;
\r
1321 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1322 pxOverflowDelayedTaskList = pxTemp;
\r
1323 xNumOfOverflows++;
\r
1326 /* See if this tick has made a timeout expire. */
\r
1327 prvCheckDelayedTasks();
\r
1333 /* The tick hook gets called at regular intervals, even if the
\r
1334 scheduler is locked. */
\r
1335 #if ( configUSE_TICK_HOOK == 1 )
\r
1337 extern void vApplicationTickHook( void );
\r
1339 vApplicationTickHook();
\r
1344 #if ( configUSE_TICK_HOOK == 1 )
\r
1346 extern void vApplicationTickHook( void );
\r
1348 /* Guard against the tick hook being called when the missed tick
\r
1349 count is being unwound (when the scheduler is being unlocked. */
\r
1350 if( uxMissedTicks == 0 )
\r
1352 vApplicationTickHook();
\r
1357 traceTASK_INCREMENT_TICK( xTickCount );
\r
1359 /*-----------------------------------------------------------*/
\r
1361 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1363 void vTaskCleanUpResources( void )
\r
1365 unsigned portSHORT usQueue;
\r
1366 volatile tskTCB *pxTCB;
\r
1368 usQueue = ( unsigned portSHORT ) uxTopUsedPriority + ( unsigned portSHORT ) 1;
\r
1370 /* Remove any TCB's from the ready queues. */
\r
1375 while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
\r
1377 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
\r
1378 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1380 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1382 }while( usQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
\r
1384 /* Remove any TCB's from the delayed queue. */
\r
1385 while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
\r
1387 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
\r
1388 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1390 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1393 /* Remove any TCB's from the overflow delayed queue. */
\r
1394 while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
\r
1396 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
\r
1397 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1399 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1402 while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1404 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
\r
1405 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1407 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1412 /*-----------------------------------------------------------*/
\r
1414 void vTaskSwitchContext( void )
\r
1416 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1418 /* The scheduler is currently suspended - do not allow a context
\r
1420 xMissedYield = pdTRUE;
\r
1424 taskCHECK_FOR_STACK_OVERFLOW();
\r
1426 /* Find the highest priority queue that contains ready tasks. */
\r
1427 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1429 --uxTopReadyPriority;
\r
1432 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1433 same priority get an equal share of the processor time. */
\r
1434 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1436 traceTASK_SWITCHED_IN();
\r
1437 vWriteTraceToBuffer();
\r
1439 /*-----------------------------------------------------------*/
\r
1441 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1443 portTickType xTimeToWake;
\r
1445 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1446 SCHEDULER SUSPENDED. */
\r
1448 /* Place the event list item of the TCB in the appropriate event list.
\r
1449 This is placed in the list in priority order so the highest priority task
\r
1450 is the first to be woken by the event. */
\r
1451 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1453 /* We must remove ourselves from the ready list before adding ourselves
\r
1454 to the blocked list as the same list item is used for both lists. We have
\r
1455 exclusive access to the ready lists as the scheduler is locked. */
\r
1456 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1459 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1461 if( xTicksToWait == portMAX_DELAY )
\r
1463 /* Add ourselves to the suspended task list instead of a delayed task
\r
1464 list to ensure we are not woken by a timing event. We will block
\r
1466 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1470 /* Calculate the time at which the task should be woken if the event does
\r
1471 not occur. This may overflow but this doesn't matter. */
\r
1472 xTimeToWake = xTickCount + xTicksToWait;
\r
1474 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1476 if( xTimeToWake < xTickCount )
\r
1478 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1479 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1483 /* The wake time has not overflowed, so we can use the current block list. */
\r
1484 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1490 /* Calculate the time at which the task should be woken if the event does
\r
1491 not occur. This may overflow but this doesn't matter. */
\r
1492 xTimeToWake = xTickCount + xTicksToWait;
\r
1494 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1496 if( xTimeToWake < xTickCount )
\r
1498 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1499 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1503 /* The wake time has not overflowed, so we can use the current block list. */
\r
1504 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1509 /*-----------------------------------------------------------*/
\r
1511 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1513 tskTCB *pxUnblockedTCB;
\r
1514 portBASE_TYPE xReturn;
\r
1516 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1517 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1519 /* The event list is sorted in priority order, so we can remove the
\r
1520 first in the list, remove the TCB from the delayed list, and add
\r
1521 it to the ready list.
\r
1523 If an event is for a queue that is locked then this function will never
\r
1524 get called - the lock count on the queue will get modified instead. This
\r
1525 means we can always expect exclusive access to the event list here. */
\r
1526 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1527 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1529 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1531 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1532 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1536 /* We cannot access the delayed or ready lists, so will hold this
\r
1537 task pending until the scheduler is resumed. */
\r
1538 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1541 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1543 /* Return true if the task removed from the event list has
\r
1544 a higher priority than the calling task. This allows
\r
1545 the calling task to know if it should force a context
\r
1551 xReturn = pdFALSE;
\r
1556 /*-----------------------------------------------------------*/
\r
1558 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1560 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1561 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1563 /*-----------------------------------------------------------*/
\r
1565 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1567 portBASE_TYPE xReturn;
\r
1569 portENTER_CRITICAL();
\r
1571 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1572 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1573 the maximum block time then the task should block indefinitely, and
\r
1574 therefore never time out. */
\r
1575 if( *pxTicksToWait == portMAX_DELAY )
\r
1577 xReturn = pdFALSE;
\r
1579 else /* We are not blocking indefinitely, perform the checks below. */
\r
1582 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xTickCount >= pxTimeOut->xTimeOnEntering ) )
\r
1584 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1585 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1586 It must have wrapped all the way around and gone past us again. This
\r
1587 passed since vTaskSetTimeout() was called. */
\r
1590 else if( ( xTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
1592 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1593 *pxTicksToWait -= ( xTickCount - pxTimeOut->xTimeOnEntering );
\r
1594 vTaskSetTimeOutState( pxTimeOut );
\r
1595 xReturn = pdFALSE;
\r
1602 portEXIT_CRITICAL();
\r
1606 /*-----------------------------------------------------------*/
\r
1608 void vTaskMissedYield( void )
\r
1610 xMissedYield = pdTRUE;
\r
1614 * -----------------------------------------------------------
\r
1616 * ----------------------------------------------------------
\r
1618 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1619 * language extensions. The equivalent prototype for this function is:
\r
1621 * void prvIdleTask( void *pvParameters );
\r
1624 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1626 /* Stop warnings. */
\r
1627 ( void ) pvParameters;
\r
1631 /* See if any tasks have been deleted. */
\r
1632 prvCheckTasksWaitingTermination();
\r
1634 #if ( configUSE_PREEMPTION == 0 )
\r
1636 /* If we are not using preemption we keep forcing a task switch to
\r
1637 see if any other task has become available. If we are using
\r
1638 preemption we don't need to do this as any task becoming available
\r
1639 will automatically get the processor anyway. */
\r
1644 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1646 /* When using preemption tasks of equal priority will be
\r
1647 timesliced. If a task that is sharing the idle priority is ready
\r
1648 to run then the idle task should yield before the end of the
\r
1651 A critical region is not required here as we are just reading from
\r
1652 the list, and an occasional incorrect value will not matter. If
\r
1653 the ready list at the idle priority contains more than one task
\r
1654 then a task other than the idle task is ready to execute. */
\r
1655 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1662 #if ( configUSE_IDLE_HOOK == 1 )
\r
1664 extern void vApplicationIdleHook( void );
\r
1666 /* Call the user defined function from within the idle task. This
\r
1667 allows the application designer to add background functionality
\r
1668 without the overhead of a separate task.
\r
1669 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1670 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1671 vApplicationIdleHook();
\r
1675 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1683 /*-----------------------------------------------------------
\r
1684 * File private functions documented at the top of the file.
\r
1685 *----------------------------------------------------------*/
\r
1689 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority )
\r
1691 /* Store the function name in the TCB. */
\r
1692 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned portSHORT ) configMAX_TASK_NAME_LEN );
\r
1693 pxTCB->pcTaskName[ ( unsigned portSHORT ) configMAX_TASK_NAME_LEN - ( unsigned portSHORT ) 1 ] = '\0';
\r
1695 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
1697 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
\r
1701 /* This is used as an array index so must ensure it's not too large. */
\r
1702 if( uxPriority >= configMAX_PRIORITIES )
\r
1704 uxPriority = configMAX_PRIORITIES - 1;
\r
1707 pxTCB->uxPriority = uxPriority;
\r
1708 #if ( configUSE_MUTEXES == 1 )
\r
1710 pxTCB->uxBasePriority = uxPriority;
\r
1714 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
1715 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
1717 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
1718 back to the containing TCB from a generic item in a list. */
\r
1719 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
1721 /* Event lists are always in priority order. */
\r
1722 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
1723 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
1725 /*-----------------------------------------------------------*/
\r
1727 static void prvInitialiseTaskLists( void )
\r
1729 unsigned portBASE_TYPE uxPriority;
\r
1731 for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
1733 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
1736 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
1737 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
1738 vListInitialise( ( xList * ) &xPendingReadyList );
\r
1740 #if ( INCLUDE_vTaskDelete == 1 )
\r
1742 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
1746 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1748 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
1752 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
1754 pxDelayedTaskList = &xDelayedTaskList1;
\r
1755 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
1757 /*-----------------------------------------------------------*/
\r
1759 static void prvCheckTasksWaitingTermination( void )
\r
1761 #if ( INCLUDE_vTaskDelete == 1 )
\r
1763 portBASE_TYPE xListIsEmpty;
\r
1765 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
1766 too often in the idle task. */
\r
1767 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
\r
1769 vTaskSuspendAll();
\r
1770 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
1773 if( !xListIsEmpty )
\r
1777 portENTER_CRITICAL();
\r
1779 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
1780 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1781 --uxCurrentNumberOfTasks;
\r
1784 portEXIT_CRITICAL();
\r
1786 prvDeleteTCB( pxTCB );
\r
1792 /*-----------------------------------------------------------*/
\r
1794 static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth )
\r
1798 /* Allocate space for the TCB. Where the memory comes from depends on
\r
1799 the implementation of the port malloc function. */
\r
1800 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
1802 if( pxNewTCB != NULL )
\r
1804 /* Allocate space for the stack used by the task being created.
\r
1805 The base of the stack memory stored in the TCB so the task can
\r
1806 be deleted later if required. */
\r
1807 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMalloc( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) );
\r
1809 if( pxNewTCB->pxStack == NULL )
\r
1811 /* Could not allocate the stack. Delete the allocated TCB. */
\r
1812 vPortFree( pxNewTCB );
\r
1817 /* Just to help debugging. */
\r
1818 memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
\r
1824 /*-----------------------------------------------------------*/
\r
1826 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1828 static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus )
\r
1830 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
1831 static portCHAR pcStatusString[ 50 ];
\r
1832 unsigned portSHORT usStackRemaining;
\r
1834 /* Write the details of all the TCB's in pxList into the buffer. */
\r
1835 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
1838 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
1839 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned portCHAR * ) pxNextTCB->pxStack );
\r
1840 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
1841 strcat( ( portCHAR * ) pcWriteBuffer, ( portCHAR * ) pcStatusString );
\r
1843 } while( pxNextTCB != pxFirstTCB );
\r
1847 /*-----------------------------------------------------------*/
\r
1849 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
1851 unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte )
\r
1853 register unsigned portSHORT usCount = 0;
\r
1855 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
1857 pucStackByte -= portSTACK_GROWTH;
\r
1861 usCount /= sizeof( portSTACK_TYPE );
\r
1867 /*-----------------------------------------------------------*/
\r
1869 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
1871 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
1875 pxTCB = prvGetTCBFromHandle( xTask );
\r
1876 return usTaskCheckFreeStackSpace( ( unsigned portCHAR * ) pxTCB->pxStack );
\r
1880 /*-----------------------------------------------------------*/
\r
1882 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
\r
1884 static void prvDeleteTCB( tskTCB *pxTCB )
\r
1886 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
1887 the task to free any memory allocated at the application level. */
\r
1888 vPortFree( pxTCB->pxStack );
\r
1889 vPortFree( pxTCB );
\r
1895 /*-----------------------------------------------------------*/
\r
1897 #if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
\r
1899 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
1901 xTaskHandle xReturn;
\r
1903 portENTER_CRITICAL();
\r
1905 xReturn = ( xTaskHandle ) pxCurrentTCB;
\r
1907 portEXIT_CRITICAL();
\r
1914 /*-----------------------------------------------------------*/
\r
1916 #if ( INCLUDE_xTaskGetSchedulerState == 1 )
\r
1918 portBASE_TYPE xTaskGetSchedulerState( void )
\r
1920 portBASE_TYPE xReturn;
\r
1922 if( xSchedulerRunning == pdFALSE )
\r
1924 xReturn = taskSCHEDULER_NOT_STARTED;
\r
1928 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1930 xReturn = taskSCHEDULER_RUNNING;
\r
1934 xReturn = taskSCHEDULER_SUSPENDED;
\r
1942 /*-----------------------------------------------------------*/
\r
1944 #if ( configUSE_MUTEXES == 1 )
\r
1946 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
1948 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
1950 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
1952 /* Adjust the mutex holder state to account for its new priority. */
\r
1953 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
1955 /* If the task being modified is in the ready state it will need to
\r
1956 be moved in to a new list. */
\r
1957 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
1959 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1961 /* Inherit the priority before being moved into the new list. */
\r
1962 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
1963 prvAddTaskToReadyQueue( pxTCB );
\r
1967 /* Just inherit the priority. */
\r
1968 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
1974 /*-----------------------------------------------------------*/
\r
1976 #if ( configUSE_MUTEXES == 1 )
\r
1978 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
1980 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
1982 if( pxMutexHolder != NULL )
\r
1984 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
1986 /* We must be the running task to be able to give the mutex back.
\r
1987 Remove ourselves from the ready list we currently appear in. */
\r
1988 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1990 /* Disinherit the priority before adding ourselves into the new
\r
1992 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
1993 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
1994 prvAddTaskToReadyQueue( pxTCB );
\r
2000 /*-----------------------------------------------------------*/
\r
2002 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2004 void vTaskEnterCritical( void )
\r
2006 portDISABLE_INTERRUPTS();
\r
2008 if( xSchedulerRunning != pdFALSE )
\r
2010 pxCurrentTCB->uxCriticalNesting++;
\r
2015 /*-----------------------------------------------------------*/
\r
2017 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2019 void vTaskExitCritical( void )
\r
2021 if( xSchedulerRunning != pdFALSE )
\r
2023 if( pxCurrentTCB->uxCriticalNesting > 0 )
\r
2025 pxCurrentTCB->uxCriticalNesting--;
\r
2027 if( pxCurrentTCB->uxCriticalNesting == 0 )
\r
2029 portENABLE_INTERRUPTS();
\r
2036 /*-----------------------------------------------------------*/
\r