2 FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
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4 ***************************************************************************
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8 * + New to FreeRTOS, *
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11 * + Wanting to improve your FreeRTOS skills and productivity *
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13 * then take a look at the FreeRTOS eBook *
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15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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16 * http://www.FreeRTOS.org/Documentation *
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18 * A pdf reference manual is also available. Both are usually delivered *
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19 * to your inbox within 20 minutes to two hours when purchased between 8am *
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20 * and 8pm GMT (although please allow up to 24 hours in case of *
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21 * exceptional circumstances). Thank you for your support! *
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23 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 ***NOTE*** The exception to the GPL is included to allow you to distribute
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31 a combined work that includes FreeRTOS without being obliged to provide the
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32 source code for proprietary components outside of the FreeRTOS kernel.
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33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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35 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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59 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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60 all the API functions to use the MPU wrappers. That should only be done when
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61 task.h is included from an application file. */
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62 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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64 #include "FreeRTOS.h"
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66 #include "StackMacros.h"
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68 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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71 * Macro to define the amount of stack available to the idle task.
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73 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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75 #define tskIDLE_PRIORITY ( ( unsigned portBASE_TYPE ) 0 )
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78 * Task control block. A task control block (TCB) is allocated to each task,
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79 * and stores the context of the task.
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81 typedef struct tskTaskControlBlock
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83 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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85 #if ( portUSING_MPU_WRAPPERS == 1 )
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86 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE STRUCT. */
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89 xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
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90 xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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91 unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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92 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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93 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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95 #if ( portSTACK_GROWTH > 0 )
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96 portSTACK_TYPE *pxEndOfStack; /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
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99 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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100 unsigned portBASE_TYPE uxCriticalNesting;
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103 #if ( configUSE_TRACE_FACILITY == 1 )
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104 unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
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107 #if ( configUSE_MUTEXES == 1 )
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108 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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111 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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112 pdTASK_HOOK_CODE pxTaskTag;
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115 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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116 unsigned long ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
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123 * Some kernel aware debuggers require data to be viewed to be global, rather
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126 #ifdef portREMOVE_STATIC_QUALIFIER
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131 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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133 /* Lists for ready and blocked tasks. --------------------*/
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135 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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136 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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137 PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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138 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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139 PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
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140 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */
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142 #if ( INCLUDE_vTaskDelete == 1 )
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144 PRIVILEGED_DATA static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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145 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
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149 #if ( INCLUDE_vTaskSuspend == 1 )
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151 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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155 /* File private variables. --------------------------------*/
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156 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
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157 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0;
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158 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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159 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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160 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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161 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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162 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
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163 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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164 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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165 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0;
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167 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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169 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
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170 PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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171 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
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175 /* Debugging and trace facilities private variables and macros. ------------*/
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178 * The value used to fill the stack of a task when the task is created. This
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179 * is used purely for checking the high water mark for tasks.
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181 #define tskSTACK_FILL_BYTE ( 0xa5 )
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184 * Macros used by vListTask to indicate which state a task is in.
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186 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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187 #define tskREADY_CHAR ( ( signed char ) 'R' )
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188 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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189 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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192 * Macros and private variables used by the trace facility.
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194 #if ( configUSE_TRACE_FACILITY == 1 )
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196 #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned long ) ( sizeof( unsigned long ) + sizeof( unsigned long ) ) )
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197 PRIVILEGED_DATA static volatile signed char * volatile pcTraceBuffer;
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198 PRIVILEGED_DATA static signed char *pcTraceBufferStart;
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199 PRIVILEGED_DATA static signed char *pcTraceBufferEnd;
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200 PRIVILEGED_DATA static signed portBASE_TYPE xTracing = pdFALSE;
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201 static unsigned portBASE_TYPE uxPreviousTask = 255;
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202 PRIVILEGED_DATA static char pcStatusString[ 50 ];
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206 /*-----------------------------------------------------------*/
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209 * Macro that writes a trace of scheduler activity to a buffer. This trace
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210 * shows which task is running when and is very useful as a debugging tool.
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211 * As this macro is called each context switch it is a good idea to undefine
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212 * it if not using the facility.
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214 #if ( configUSE_TRACE_FACILITY == 1 )
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216 #define vWriteTraceToBuffer() \
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220 if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
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222 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
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224 uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
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225 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) xTickCount; \
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226 pcTraceBuffer += sizeof( unsigned long ); \
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227 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) uxPreviousTask; \
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228 pcTraceBuffer += sizeof( unsigned long ); \
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232 xTracing = pdFALSE; \
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240 #define vWriteTraceToBuffer()
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243 /*-----------------------------------------------------------*/
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246 * Place the task represented by pxTCB into the appropriate ready queue for
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247 * the task. It is inserted at the end of the list. One quirk of this is
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248 * that if the task being inserted is at the same priority as the currently
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249 * executing task, then it will only be rescheduled after the currently
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250 * executing task has been rescheduled.
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252 #define prvAddTaskToReadyQueue( pxTCB ) \
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254 if( pxTCB->uxPriority > uxTopReadyPriority ) \
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256 uxTopReadyPriority = pxTCB->uxPriority; \
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258 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \
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260 /*-----------------------------------------------------------*/
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263 * Macro that looks at the list of tasks that are currently delayed to see if
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264 * any require waking.
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266 * Tasks are stored in the queue in the order of their wake time - meaning
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267 * once one tasks has been found whose timer has not expired we need not look
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268 * any further down the list.
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270 #define prvCheckDelayedTasks() \
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272 register tskTCB *pxTCB; \
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274 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \
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276 if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \
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280 vListRemove( &( pxTCB->xGenericListItem ) ); \
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281 /* Is the task waiting on an event also? */ \
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282 if( pxTCB->xEventListItem.pvContainer ) \
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284 vListRemove( &( pxTCB->xEventListItem ) ); \
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286 prvAddTaskToReadyQueue( pxTCB ); \
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289 /*-----------------------------------------------------------*/
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292 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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293 * where NULL is used to indicate that the handle of the currently executing
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294 * task should be used in place of the parameter. This macro simply checks to
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295 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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297 #define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )
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300 /* File private functions. --------------------------------*/
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303 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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304 * into the TCB structure.
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306 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
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309 * Utility to ready all the lists used by the scheduler. This is called
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310 * automatically upon the creation of the first task.
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312 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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315 * The idle task, which as all tasks is implemented as a never ending loop.
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316 * The idle task is automatically created and added to the ready lists upon
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317 * creation of the first user task.
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319 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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320 * language extensions. The equivalent prototype for this function is:
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322 * void prvIdleTask( void *pvParameters );
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325 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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328 * Utility to free all memory allocated by the scheduler to hold a TCB,
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329 * including the stack pointed to by the TCB.
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331 * This does not free memory allocated by the task itself (i.e. memory
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332 * allocated by calls to pvPortMalloc from within the tasks application code).
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334 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
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336 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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341 * Used only by the idle task. This checks to see if anything has been placed
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342 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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343 * and its TCB deleted.
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345 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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348 * Allocates memory from the heap for a TCB and associated stack. Checks the
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349 * allocation was successful.
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351 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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354 * Called from vTaskList. vListTasks details all the tasks currently under
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355 * control of the scheduler. The tasks may be in one of a number of lists.
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356 * prvListTaskWithinSingleList accepts a list and details the tasks from
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357 * within just that list.
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359 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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360 * NORMAL APPLICATION CODE.
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362 #if ( configUSE_TRACE_FACILITY == 1 )
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364 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
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369 * When a task is created, the stack of the task is filled with a known value.
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370 * This function determines the 'high water mark' of the task stack by
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371 * determining how much of the stack remains at the original preset value.
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373 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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375 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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384 /*-----------------------------------------------------------
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385 * TASK CREATION API documented in task.h
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386 *----------------------------------------------------------*/
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388 signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
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390 signed portBASE_TYPE xReturn;
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392 portBASE_TYPE xRunPrivileged;
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394 /* Allocate the memory required by the TCB and stack for the new task,
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395 checking that the allocation was successful. */
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396 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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398 if( pxNewTCB != NULL )
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400 portSTACK_TYPE *pxTopOfStack;
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402 /* Should the task be created in privileged mode? */
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403 if( ( uxPriority & portPRIVILEGE_BIT ) != 0x00 )
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405 xRunPrivileged = pdTRUE;
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409 xRunPrivileged = pdFALSE;
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411 uxPriority &= ~portPRIVILEGE_BIT;
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413 /* Calculate the top of stack address. This depends on whether the
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414 stack grows from high memory to low (as per the 80x86) or visa versa.
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415 portSTACK_GROWTH is used to make the result positive or negative as
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416 required by the port. */
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417 #if( portSTACK_GROWTH < 0 )
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419 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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420 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( unsigned long ) pxTopOfStack ) & ( ( unsigned long ) ~portBYTE_ALIGNMENT_MASK ) );
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424 pxTopOfStack = pxNewTCB->pxStack;
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426 /* If we want to use stack checking on architectures that use
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427 a positive stack growth direction then we also need to store the
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428 other extreme of the stack space. */
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429 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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433 /* Setup the newly allocated TCB with the initial state of the task. */
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434 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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436 /* Initialize the TCB stack to look as if the task was already running,
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437 but had been interrupted by the scheduler. The return address is set
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438 to the start of the task function. Once the stack has been initialised
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439 the top of stack variable is updated. */
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440 #if( portUSING_MPU_WRAPPERS == 1 )
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442 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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446 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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447 ( void ) xRunPrivileged;
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451 /* We are going to manipulate the task queues to add this task to a
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452 ready list, so must make sure no interrupts occur. */
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453 portENTER_CRITICAL();
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455 uxCurrentNumberOfTasks++;
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456 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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458 /* As this is the first task it must also be the current task. */
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459 pxCurrentTCB = pxNewTCB;
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461 /* This is the first task to be created so do the preliminary
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462 initialisation required. We will not recover if this call
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463 fails, but we will report the failure. */
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464 prvInitialiseTaskLists();
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468 /* If the scheduler is not already running, make this task the
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469 current task if it is the highest priority task to be created
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471 if( xSchedulerRunning == pdFALSE )
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473 if( pxCurrentTCB->uxPriority <= uxPriority )
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475 pxCurrentTCB = pxNewTCB;
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480 /* Remember the top priority to make context switching faster. Use
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481 the priority in pxNewTCB as this has been capped to a valid value. */
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482 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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484 uxTopUsedPriority = pxNewTCB->uxPriority;
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487 #if ( configUSE_TRACE_FACILITY == 1 )
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489 /* Add a counter into the TCB for tracing only. */
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490 pxNewTCB->uxTCBNumber = uxTaskNumber;
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495 prvAddTaskToReadyQueue( pxNewTCB );
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498 traceTASK_CREATE( pxNewTCB );
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500 portEXIT_CRITICAL();
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504 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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505 traceTASK_CREATE_FAILED( pxNewTCB );
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508 if( xReturn == pdPASS )
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510 if( ( void * ) pxCreatedTask != NULL )
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512 /* Pass the TCB out - in an anonymous way. The calling function/
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513 task can use this as a handle to delete the task later if
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515 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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518 if( xSchedulerRunning != pdFALSE )
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520 /* If the created task is of a higher priority than the current task
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521 then it should run now. */
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522 if( pxCurrentTCB->uxPriority < uxPriority )
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524 portYIELD_WITHIN_API();
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531 /*-----------------------------------------------------------*/
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533 #if ( INCLUDE_vTaskDelete == 1 )
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535 void vTaskDelete( xTaskHandle pxTaskToDelete )
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539 portENTER_CRITICAL();
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541 /* Ensure a yield is performed if the current task is being
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543 if( pxTaskToDelete == pxCurrentTCB )
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545 pxTaskToDelete = NULL;
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548 /* If null is passed in here then we are deleting ourselves. */
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549 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
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551 /* Remove task from the ready list and place in the termination list.
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552 This will stop the task from be scheduled. The idle task will check
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553 the termination list and free up any memory allocated by the
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554 scheduler for the TCB and stack. */
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555 vListRemove( &( pxTCB->xGenericListItem ) );
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557 /* Is the task waiting on an event also? */
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558 if( pxTCB->xEventListItem.pvContainer )
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560 vListRemove( &( pxTCB->xEventListItem ) );
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563 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
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565 /* Increment the ucTasksDeleted variable so the idle task knows
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566 there is a task that has been deleted and that it should therefore
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567 check the xTasksWaitingTermination list. */
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570 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
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571 can detect that the task lists need re-generating. */
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574 traceTASK_DELETE( pxTCB );
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576 portEXIT_CRITICAL();
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578 /* Force a reschedule if we have just deleted the current task. */
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579 if( xSchedulerRunning != pdFALSE )
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581 if( ( void * ) pxTaskToDelete == NULL )
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583 portYIELD_WITHIN_API();
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595 /*-----------------------------------------------------------
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596 * TASK CONTROL API documented in task.h
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597 *----------------------------------------------------------*/
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599 #if ( INCLUDE_vTaskDelayUntil == 1 )
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601 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
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603 portTickType xTimeToWake;
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604 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
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608 /* Generate the tick time at which the task wants to wake. */
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609 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
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611 if( xTickCount < *pxPreviousWakeTime )
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613 /* The tick count has overflowed since this function was
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614 lasted called. In this case the only time we should ever
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615 actually delay is if the wake time has also overflowed,
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616 and the wake time is greater than the tick time. When this
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617 is the case it is as if neither time had overflowed. */
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618 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
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620 xShouldDelay = pdTRUE;
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625 /* The tick time has not overflowed. In this case we will
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626 delay if either the wake time has overflowed, and/or the
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627 tick time is less than the wake time. */
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628 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
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630 xShouldDelay = pdTRUE;
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634 /* Update the wake time ready for the next call. */
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635 *pxPreviousWakeTime = xTimeToWake;
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639 traceTASK_DELAY_UNTIL();
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641 /* We must remove ourselves from the ready list before adding
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642 ourselves to the blocked list as the same list item is used for
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644 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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646 /* The list item will be inserted in wake time order. */
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647 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
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649 if( xTimeToWake < xTickCount )
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651 /* Wake time has overflowed. Place this item in the
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653 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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657 /* The wake time has not overflowed, so we can use the
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658 current block list. */
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659 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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663 xAlreadyYielded = xTaskResumeAll();
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665 /* Force a reschedule if xTaskResumeAll has not already done so, we may
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666 have put ourselves to sleep. */
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667 if( !xAlreadyYielded )
\r
669 portYIELD_WITHIN_API();
\r
674 /*-----------------------------------------------------------*/
\r
676 #if ( INCLUDE_vTaskDelay == 1 )
\r
678 void vTaskDelay( portTickType xTicksToDelay )
\r
680 portTickType xTimeToWake;
\r
681 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
683 /* A delay time of zero just forces a reschedule. */
\r
684 if( xTicksToDelay > ( portTickType ) 0 )
\r
690 /* A task that is removed from the event list while the
\r
691 scheduler is suspended will not get placed in the ready
\r
692 list or removed from the blocked list until the scheduler
\r
695 This task cannot be in an event list as it is the currently
\r
698 /* Calculate the time to wake - this may overflow but this is
\r
700 xTimeToWake = xTickCount + xTicksToDelay;
\r
702 /* We must remove ourselves from the ready list before adding
\r
703 ourselves to the blocked list as the same list item is used for
\r
705 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
707 /* The list item will be inserted in wake time order. */
\r
708 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
710 if( xTimeToWake < xTickCount )
\r
712 /* Wake time has overflowed. Place this item in the
\r
714 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
718 /* The wake time has not overflowed, so we can use the
\r
719 current block list. */
\r
720 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
723 xAlreadyYielded = xTaskResumeAll();
\r
726 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
727 have put ourselves to sleep. */
\r
728 if( !xAlreadyYielded )
\r
730 portYIELD_WITHIN_API();
\r
735 /*-----------------------------------------------------------*/
\r
737 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
739 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
742 unsigned portBASE_TYPE uxReturn;
\r
744 portENTER_CRITICAL();
\r
746 /* If null is passed in here then we are changing the
\r
747 priority of the calling function. */
\r
748 pxTCB = prvGetTCBFromHandle( pxTask );
\r
749 uxReturn = pxTCB->uxPriority;
\r
751 portEXIT_CRITICAL();
\r
757 /*-----------------------------------------------------------*/
\r
759 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
761 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
764 unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
\r
766 /* Ensure the new priority is valid. */
\r
767 if( uxNewPriority >= configMAX_PRIORITIES )
\r
769 uxNewPriority = configMAX_PRIORITIES - 1;
\r
772 portENTER_CRITICAL();
\r
774 if( pxTask == pxCurrentTCB )
\r
779 /* If null is passed in here then we are changing the
\r
780 priority of the calling function. */
\r
781 pxTCB = prvGetTCBFromHandle( pxTask );
\r
783 traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
\r
785 #if ( configUSE_MUTEXES == 1 )
\r
787 uxCurrentPriority = pxTCB->uxBasePriority;
\r
791 uxCurrentPriority = pxTCB->uxPriority;
\r
795 if( uxCurrentPriority != uxNewPriority )
\r
797 /* The priority change may have readied a task of higher
\r
798 priority than the calling task. */
\r
799 if( uxNewPriority > uxCurrentPriority )
\r
801 if( pxTask != NULL )
\r
803 /* The priority of another task is being raised. If we
\r
804 were raising the priority of the currently running task
\r
805 there would be no need to switch as it must have already
\r
806 been the highest priority task. */
\r
807 xYieldRequired = pdTRUE;
\r
810 else if( pxTask == NULL )
\r
812 /* Setting our own priority down means there may now be another
\r
813 task of higher priority that is ready to execute. */
\r
814 xYieldRequired = pdTRUE;
\r
819 #if ( configUSE_MUTEXES == 1 )
\r
821 /* Only change the priority being used if the task is not
\r
822 currently using an inherited priority. */
\r
823 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
825 pxTCB->uxPriority = uxNewPriority;
\r
828 /* The base priority gets set whatever. */
\r
829 pxTCB->uxBasePriority = uxNewPriority;
\r
833 pxTCB->uxPriority = uxNewPriority;
\r
837 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
839 /* If the task is in the blocked or suspended list we need do
\r
840 nothing more than change it's priority variable. However, if
\r
841 the task is in a ready list it needs to be removed and placed
\r
842 in the queue appropriate to its new priority. */
\r
843 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
845 /* The task is currently in its ready list - remove before adding
\r
846 it to it's new ready list. As we are in a critical section we
\r
847 can do this even if the scheduler is suspended. */
\r
848 vListRemove( &( pxTCB->xGenericListItem ) );
\r
849 prvAddTaskToReadyQueue( pxTCB );
\r
852 if( xYieldRequired == pdTRUE )
\r
854 portYIELD_WITHIN_API();
\r
858 portEXIT_CRITICAL();
\r
862 /*-----------------------------------------------------------*/
\r
864 #if ( INCLUDE_vTaskSuspend == 1 )
\r
866 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
870 portENTER_CRITICAL();
\r
872 /* Ensure a yield is performed if the current task is being
\r
874 if( pxTaskToSuspend == pxCurrentTCB )
\r
876 pxTaskToSuspend = NULL;
\r
879 /* If null is passed in here then we are suspending ourselves. */
\r
880 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
882 traceTASK_SUSPEND( pxTCB );
\r
884 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
885 vListRemove( &( pxTCB->xGenericListItem ) );
\r
887 /* Is the task waiting on an event also? */
\r
888 if( pxTCB->xEventListItem.pvContainer )
\r
890 vListRemove( &( pxTCB->xEventListItem ) );
\r
893 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
895 portEXIT_CRITICAL();
\r
897 /* We may have just suspended the current task. */
\r
898 if( ( void * ) pxTaskToSuspend == NULL )
\r
900 portYIELD_WITHIN_API();
\r
905 /*-----------------------------------------------------------*/
\r
907 #if ( INCLUDE_vTaskSuspend == 1 )
\r
909 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
911 portBASE_TYPE xReturn = pdFALSE;
\r
912 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
914 /* Is the task we are attempting to resume actually in the
\r
916 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
918 /* Has the task already been resumed from within an ISR? */
\r
919 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
921 /* Is it in the suspended list because it is in the
\r
922 Suspended state? It is possible to be in the suspended
\r
923 list because it is blocked on a task with no timeout
\r
925 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
936 /*-----------------------------------------------------------*/
\r
938 #if ( INCLUDE_vTaskSuspend == 1 )
\r
940 void vTaskResume( xTaskHandle pxTaskToResume )
\r
944 /* Remove the task from whichever list it is currently in, and place
\r
945 it in the ready list. */
\r
946 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
948 /* The parameter cannot be NULL as it is impossible to resume the
\r
949 currently executing task. */
\r
950 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
952 portENTER_CRITICAL();
\r
954 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
956 traceTASK_RESUME( pxTCB );
\r
958 /* As we are in a critical section we can access the ready
\r
959 lists even if the scheduler is suspended. */
\r
960 vListRemove( &( pxTCB->xGenericListItem ) );
\r
961 prvAddTaskToReadyQueue( pxTCB );
\r
963 /* We may have just resumed a higher priority task. */
\r
964 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
966 /* This yield may not cause the task just resumed to run, but
\r
967 will leave the lists in the correct state for the next yield. */
\r
968 portYIELD_WITHIN_API();
\r
972 portEXIT_CRITICAL();
\r
978 /*-----------------------------------------------------------*/
\r
980 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
982 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
984 portBASE_TYPE xYieldRequired = pdFALSE;
\r
987 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
989 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
991 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
993 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
995 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
996 vListRemove( &( pxTCB->xGenericListItem ) );
\r
997 prvAddTaskToReadyQueue( pxTCB );
\r
1001 /* We cannot access the delayed or ready lists, so will hold this
\r
1002 task pending until the scheduler is resumed, at which point a
\r
1003 yield will be performed if necessary. */
\r
1004 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1008 return xYieldRequired;
\r
1016 /*-----------------------------------------------------------
\r
1017 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1018 *----------------------------------------------------------*/
\r
1021 void vTaskStartScheduler( void )
\r
1023 portBASE_TYPE xReturn;
\r
1025 /* Add the idle task at the lowest priority. */
\r
1026 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), ( xTaskHandle * ) NULL );
\r
1028 if( xReturn == pdPASS )
\r
1030 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1031 before or during the call to xPortStartScheduler(). The stacks of
\r
1032 the created tasks contain a status word with interrupts switched on
\r
1033 so interrupts will automatically get re-enabled when the first task
\r
1036 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1037 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1038 portDISABLE_INTERRUPTS();
\r
1040 xSchedulerRunning = pdTRUE;
\r
1041 xTickCount = ( portTickType ) 0;
\r
1043 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1044 macro must be defined to configure the timer/counter used to generate
\r
1045 the run time counter time base. */
\r
1046 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1048 /* Setting up the timer tick is hardware specific and thus in the
\r
1049 portable interface. */
\r
1050 if( xPortStartScheduler() )
\r
1052 /* Should not reach here as if the scheduler is running the
\r
1053 function will not return. */
\r
1057 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1061 /*-----------------------------------------------------------*/
\r
1063 void vTaskEndScheduler( void )
\r
1065 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1066 routine so the original ISRs can be restored if necessary. The port
\r
1067 layer must ensure interrupts enable bit is left in the correct state. */
\r
1068 portDISABLE_INTERRUPTS();
\r
1069 xSchedulerRunning = pdFALSE;
\r
1070 vPortEndScheduler();
\r
1072 /*----------------------------------------------------------*/
\r
1074 void vTaskSuspendAll( void )
\r
1076 /* A critical section is not required as the variable is of type
\r
1078 ++uxSchedulerSuspended;
\r
1080 /*----------------------------------------------------------*/
\r
1082 signed portBASE_TYPE xTaskResumeAll( void )
\r
1084 register tskTCB *pxTCB;
\r
1085 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1087 /* It is possible that an ISR caused a task to be removed from an event
\r
1088 list while the scheduler was suspended. If this was the case then the
\r
1089 removed task will have been added to the xPendingReadyList. Once the
\r
1090 scheduler has been resumed it is safe to move all the pending ready
\r
1091 tasks from this list into their appropriate ready list. */
\r
1092 portENTER_CRITICAL();
\r
1094 --uxSchedulerSuspended;
\r
1096 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1098 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
\r
1100 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1102 /* Move any readied tasks from the pending list into the
\r
1103 appropriate ready list. */
\r
1104 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL )
\r
1106 vListRemove( &( pxTCB->xEventListItem ) );
\r
1107 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1108 prvAddTaskToReadyQueue( pxTCB );
\r
1110 /* If we have moved a task that has a priority higher than
\r
1111 the current task then we should yield. */
\r
1112 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1114 xYieldRequired = pdTRUE;
\r
1118 /* If any ticks occurred while the scheduler was suspended then
\r
1119 they should be processed now. This ensures the tick count does not
\r
1120 slip, and that any delayed tasks are resumed at the correct time. */
\r
1121 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1123 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1125 vTaskIncrementTick();
\r
1129 /* As we have processed some ticks it is appropriate to yield
\r
1130 to ensure the highest priority task that is ready to run is
\r
1131 the task actually running. */
\r
1132 #if configUSE_PREEMPTION == 1
\r
1134 xYieldRequired = pdTRUE;
\r
1139 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1141 xAlreadyYielded = pdTRUE;
\r
1142 xMissedYield = pdFALSE;
\r
1143 portYIELD_WITHIN_API();
\r
1148 portEXIT_CRITICAL();
\r
1150 return xAlreadyYielded;
\r
1158 /*-----------------------------------------------------------
\r
1159 * PUBLIC TASK UTILITIES documented in task.h
\r
1160 *----------------------------------------------------------*/
\r
1164 portTickType xTaskGetTickCount( void )
\r
1166 portTickType xTicks;
\r
1168 /* Critical section required if running on a 16 bit processor. */
\r
1169 portENTER_CRITICAL();
\r
1171 xTicks = xTickCount;
\r
1173 portEXIT_CRITICAL();
\r
1177 /*-----------------------------------------------------------*/
\r
1179 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1181 /* A critical section is not required because the variables are of type
\r
1183 return uxCurrentNumberOfTasks;
\r
1185 /*-----------------------------------------------------------*/
\r
1187 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1189 void vTaskList( signed char *pcWriteBuffer )
\r
1191 unsigned portBASE_TYPE uxQueue;
\r
1193 /* This is a VERY costly function that should be used for debug only.
\r
1194 It leaves interrupts disabled for a LONG time. */
\r
1196 vTaskSuspendAll();
\r
1198 /* Run through all the lists that could potentially contain a TCB and
\r
1199 report the task name, state and stack high water mark. */
\r
1201 pcWriteBuffer[ 0 ] = ( signed char ) 0x00;
\r
1202 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1204 uxQueue = uxTopUsedPriority + 1;
\r
1210 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1212 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1214 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1216 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1218 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1221 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1223 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1226 #if( INCLUDE_vTaskDelete == 1 )
\r
1228 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1230 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1235 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1237 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1239 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1248 /*----------------------------------------------------------*/
\r
1250 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1252 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1254 unsigned portBASE_TYPE uxQueue;
\r
1255 unsigned long ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1257 /* This is a VERY costly function that should be used for debug only.
\r
1258 It leaves interrupts disabled for a LONG time. */
\r
1260 vTaskSuspendAll();
\r
1262 /* Run through all the lists that could potentially contain a TCB,
\r
1263 generating a table of run timer percentages in the provided
\r
1266 pcWriteBuffer[ 0 ] = ( signed char ) 0x00;
\r
1267 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1269 uxQueue = uxTopUsedPriority + 1;
\r
1275 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1277 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
\r
1279 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1281 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1283 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
\r
1286 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1288 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
\r
1291 #if ( INCLUDE_vTaskDelete == 1 )
\r
1293 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1295 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, ulTotalRunTime );
\r
1300 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1302 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1304 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, ulTotalRunTime );
\r
1313 /*----------------------------------------------------------*/
\r
1315 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1317 void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize )
\r
1319 portENTER_CRITICAL();
\r
1321 pcTraceBuffer = ( signed char * )pcBuffer;
\r
1322 pcTraceBufferStart = pcBuffer;
\r
1323 pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
\r
1324 xTracing = pdTRUE;
\r
1326 portEXIT_CRITICAL();
\r
1330 /*----------------------------------------------------------*/
\r
1332 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1334 unsigned long ulTaskEndTrace( void )
\r
1336 unsigned long ulBufferLength;
\r
1338 portENTER_CRITICAL();
\r
1339 xTracing = pdFALSE;
\r
1340 portEXIT_CRITICAL();
\r
1342 ulBufferLength = ( unsigned long ) ( pcTraceBuffer - pcTraceBufferStart );
\r
1344 return ulBufferLength;
\r
1351 /*-----------------------------------------------------------
\r
1352 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1353 * documented in task.h
\r
1354 *----------------------------------------------------------*/
\r
1357 void vTaskIncrementTick( void )
\r
1359 /* Called by the portable layer each time a tick interrupt occurs.
\r
1360 Increments the tick then checks to see if the new tick value will cause any
\r
1361 tasks to be unblocked. */
\r
1362 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1365 if( xTickCount == ( portTickType ) 0 )
\r
1369 /* Tick count has overflowed so we need to swap the delay lists.
\r
1370 If there are any items in pxDelayedTaskList here then there is
\r
1372 pxTemp = pxDelayedTaskList;
\r
1373 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1374 pxOverflowDelayedTaskList = pxTemp;
\r
1375 xNumOfOverflows++;
\r
1378 /* See if this tick has made a timeout expire. */
\r
1379 prvCheckDelayedTasks();
\r
1385 /* The tick hook gets called at regular intervals, even if the
\r
1386 scheduler is locked. */
\r
1387 #if ( configUSE_TICK_HOOK == 1 )
\r
1389 extern void vApplicationTickHook( void );
\r
1391 vApplicationTickHook();
\r
1396 #if ( configUSE_TICK_HOOK == 1 )
\r
1398 extern void vApplicationTickHook( void );
\r
1400 /* Guard against the tick hook being called when the missed tick
\r
1401 count is being unwound (when the scheduler is being unlocked. */
\r
1402 if( uxMissedTicks == 0 )
\r
1404 vApplicationTickHook();
\r
1409 traceTASK_INCREMENT_TICK( xTickCount );
\r
1411 /*-----------------------------------------------------------*/
\r
1413 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1415 void vTaskCleanUpResources( void )
\r
1417 unsigned short usQueue;
\r
1418 volatile tskTCB *pxTCB;
\r
1420 usQueue = ( unsigned short ) uxTopUsedPriority + ( unsigned short ) 1;
\r
1422 /* Remove any TCB's from the ready queues. */
\r
1427 while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
\r
1429 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
\r
1430 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1432 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1434 }while( usQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1436 /* Remove any TCB's from the delayed queue. */
\r
1437 while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
\r
1439 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
\r
1440 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1442 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1445 /* Remove any TCB's from the overflow delayed queue. */
\r
1446 while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
\r
1448 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
\r
1449 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1451 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1454 while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1456 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
\r
1457 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1459 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1464 /*-----------------------------------------------------------*/
\r
1466 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1468 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue )
\r
1472 /* If xTask is NULL then we are setting our own task hook. */
\r
1473 if( xTask == NULL )
\r
1475 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1479 xTCB = ( tskTCB * ) xTask;
\r
1482 /* Save the hook function in the TCB. A critical section is required as
\r
1483 the value can be accessed from an interrupt. */
\r
1484 portENTER_CRITICAL();
\r
1485 xTCB->pxTaskTag = pxTagValue;
\r
1486 portEXIT_CRITICAL();
\r
1490 /*-----------------------------------------------------------*/
\r
1492 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1494 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1497 pdTASK_HOOK_CODE xReturn;
\r
1499 /* If xTask is NULL then we are setting our own task hook. */
\r
1500 if( xTask == NULL )
\r
1502 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1506 xTCB = ( tskTCB * ) xTask;
\r
1509 /* Save the hook function in the TCB. A critical section is required as
\r
1510 the value can be accessed from an interrupt. */
\r
1511 portENTER_CRITICAL();
\r
1512 xReturn = xTCB->pxTaskTag;
\r
1513 portEXIT_CRITICAL();
\r
1519 /*-----------------------------------------------------------*/
\r
1521 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1523 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1526 portBASE_TYPE xReturn;
\r
1528 /* If xTask is NULL then we are calling our own task hook. */
\r
1529 if( xTask == NULL )
\r
1531 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1535 xTCB = ( tskTCB * ) xTask;
\r
1538 if( xTCB->pxTaskTag != NULL )
\r
1540 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1551 /*-----------------------------------------------------------*/
\r
1553 void vTaskSwitchContext( void )
\r
1555 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1557 /* The scheduler is currently suspended - do not allow a context
\r
1559 xMissedYield = pdTRUE;
\r
1563 traceTASK_SWITCHED_OUT();
\r
1565 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1567 unsigned long ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
\r
1569 /* Add the amount of time the task has been running to the accumulated
\r
1570 time so far. The time the task started running was stored in
\r
1571 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1572 so count values are only valid until the timer overflows. Generally
\r
1573 this will be about 1 hour assuming a 1uS timer increment. */
\r
1574 pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
\r
1575 ulTaskSwitchedInTime = ulTempCounter;
\r
1579 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1580 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1582 /* Find the highest priority queue that contains ready tasks. */
\r
1583 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1585 --uxTopReadyPriority;
\r
1588 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1589 same priority get an equal share of the processor time. */
\r
1590 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1592 traceTASK_SWITCHED_IN();
\r
1593 vWriteTraceToBuffer();
\r
1595 /*-----------------------------------------------------------*/
\r
1597 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1599 portTickType xTimeToWake;
\r
1601 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1602 SCHEDULER SUSPENDED. */
\r
1604 /* Place the event list item of the TCB in the appropriate event list.
\r
1605 This is placed in the list in priority order so the highest priority task
\r
1606 is the first to be woken by the event. */
\r
1607 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1609 /* We must remove ourselves from the ready list before adding ourselves
\r
1610 to the blocked list as the same list item is used for both lists. We have
\r
1611 exclusive access to the ready lists as the scheduler is locked. */
\r
1612 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1615 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1617 if( xTicksToWait == portMAX_DELAY )
\r
1619 /* Add ourselves to the suspended task list instead of a delayed task
\r
1620 list to ensure we are not woken by a timing event. We will block
\r
1622 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1626 /* Calculate the time at which the task should be woken if the event does
\r
1627 not occur. This may overflow but this doesn't matter. */
\r
1628 xTimeToWake = xTickCount + xTicksToWait;
\r
1630 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1632 if( xTimeToWake < xTickCount )
\r
1634 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1635 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1639 /* The wake time has not overflowed, so we can use the current block list. */
\r
1640 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1646 /* Calculate the time at which the task should be woken if the event does
\r
1647 not occur. This may overflow but this doesn't matter. */
\r
1648 xTimeToWake = xTickCount + xTicksToWait;
\r
1650 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1652 if( xTimeToWake < xTickCount )
\r
1654 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1655 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1659 /* The wake time has not overflowed, so we can use the current block list. */
\r
1660 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1665 /*-----------------------------------------------------------*/
\r
1667 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1669 tskTCB *pxUnblockedTCB;
\r
1670 portBASE_TYPE xReturn;
\r
1672 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1673 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1675 /* The event list is sorted in priority order, so we can remove the
\r
1676 first in the list, remove the TCB from the delayed list, and add
\r
1677 it to the ready list.
\r
1679 If an event is for a queue that is locked then this function will never
\r
1680 get called - the lock count on the queue will get modified instead. This
\r
1681 means we can always expect exclusive access to the event list here. */
\r
1682 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1683 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1685 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1687 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1688 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1692 /* We cannot access the delayed or ready lists, so will hold this
\r
1693 task pending until the scheduler is resumed. */
\r
1694 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1697 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1699 /* Return true if the task removed from the event list has
\r
1700 a higher priority than the calling task. This allows
\r
1701 the calling task to know if it should force a context
\r
1707 xReturn = pdFALSE;
\r
1712 /*-----------------------------------------------------------*/
\r
1714 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1716 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1717 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1719 /*-----------------------------------------------------------*/
\r
1721 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1723 portBASE_TYPE xReturn;
\r
1725 portENTER_CRITICAL();
\r
1727 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1728 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1729 the maximum block time then the task should block indefinitely, and
\r
1730 therefore never time out. */
\r
1731 if( *pxTicksToWait == portMAX_DELAY )
\r
1733 xReturn = pdFALSE;
\r
1735 else /* We are not blocking indefinitely, perform the checks below. */
\r
1738 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
1740 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1741 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1742 It must have wrapped all the way around and gone past us again. This
\r
1743 passed since vTaskSetTimeout() was called. */
\r
1746 else if( ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) < ( portTickType ) *pxTicksToWait )
\r
1748 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1749 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
1750 vTaskSetTimeOutState( pxTimeOut );
\r
1751 xReturn = pdFALSE;
\r
1758 portEXIT_CRITICAL();
\r
1762 /*-----------------------------------------------------------*/
\r
1764 void vTaskMissedYield( void )
\r
1766 xMissedYield = pdTRUE;
\r
1770 * -----------------------------------------------------------
\r
1772 * ----------------------------------------------------------
\r
1774 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1775 * language extensions. The equivalent prototype for this function is:
\r
1777 * void prvIdleTask( void *pvParameters );
\r
1780 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1782 /* Stop warnings. */
\r
1783 ( void ) pvParameters;
\r
1787 /* See if any tasks have been deleted. */
\r
1788 prvCheckTasksWaitingTermination();
\r
1790 #if ( configUSE_PREEMPTION == 0 )
\r
1792 /* If we are not using preemption we keep forcing a task switch to
\r
1793 see if any other task has become available. If we are using
\r
1794 preemption we don't need to do this as any task becoming available
\r
1795 will automatically get the processor anyway. */
\r
1800 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1802 /* When using preemption tasks of equal priority will be
\r
1803 timesliced. If a task that is sharing the idle priority is ready
\r
1804 to run then the idle task should yield before the end of the
\r
1807 A critical region is not required here as we are just reading from
\r
1808 the list, and an occasional incorrect value will not matter. If
\r
1809 the ready list at the idle priority contains more than one task
\r
1810 then a task other than the idle task is ready to execute. */
\r
1811 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1818 #if ( configUSE_IDLE_HOOK == 1 )
\r
1820 extern void vApplicationIdleHook( void );
\r
1822 /* Call the user defined function from within the idle task. This
\r
1823 allows the application designer to add background functionality
\r
1824 without the overhead of a separate task.
\r
1825 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1826 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1827 vApplicationIdleHook();
\r
1831 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1839 /*-----------------------------------------------------------
\r
1840 * File private functions documented at the top of the file.
\r
1841 *----------------------------------------------------------*/
\r
1845 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
1847 /* Store the function name in the TCB. */
\r
1848 #if configMAX_TASK_NAME_LEN > 1
\r
1850 /* Don't bring strncpy into the build unnecessarily. */
\r
1851 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
1854 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = '\0';
\r
1856 /* This is used as an array index so must ensure it's not too large. First
\r
1857 remove the privilege bit if one is present. */
\r
1858 if( uxPriority >= configMAX_PRIORITIES )
\r
1860 uxPriority = configMAX_PRIORITIES - 1;
\r
1863 pxTCB->uxPriority = uxPriority;
\r
1864 #if ( configUSE_MUTEXES == 1 )
\r
1866 pxTCB->uxBasePriority = uxPriority;
\r
1870 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
1871 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
1873 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
1874 back to the containing TCB from a generic item in a list. */
\r
1875 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
1877 /* Event lists are always in priority order. */
\r
1878 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
1879 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
1881 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
1883 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
\r
1887 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1889 pxTCB->pxTaskTag = NULL;
\r
1893 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1895 pxTCB->ulRunTimeCounter = 0UL;
\r
1899 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
1901 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
1905 ( void ) xRegions;
\r
1906 ( void ) usStackDepth;
\r
1910 /*-----------------------------------------------------------*/
\r
1912 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
1914 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
1918 if( xTaskToModify == pxCurrentTCB )
\r
1920 xTaskToModify = NULL;
\r
1923 /* If null is passed in here then we are deleting ourselves. */
\r
1924 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
1926 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
1928 /*-----------------------------------------------------------*/
\r
1931 static void prvInitialiseTaskLists( void )
\r
1933 unsigned portBASE_TYPE uxPriority;
\r
1935 for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
1937 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
1940 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
1941 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
1942 vListInitialise( ( xList * ) &xPendingReadyList );
\r
1944 #if ( INCLUDE_vTaskDelete == 1 )
\r
1946 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
1950 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1952 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
1956 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
1958 pxDelayedTaskList = &xDelayedTaskList1;
\r
1959 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
1961 /*-----------------------------------------------------------*/
\r
1963 static void prvCheckTasksWaitingTermination( void )
\r
1965 #if ( INCLUDE_vTaskDelete == 1 )
\r
1967 portBASE_TYPE xListIsEmpty;
\r
1969 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
1970 too often in the idle task. */
\r
1971 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
\r
1973 vTaskSuspendAll();
\r
1974 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
1977 if( !xListIsEmpty )
\r
1981 portENTER_CRITICAL();
\r
1983 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
1984 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1985 --uxCurrentNumberOfTasks;
\r
1988 portEXIT_CRITICAL();
\r
1990 prvDeleteTCB( pxTCB );
\r
1996 /*-----------------------------------------------------------*/
\r
1998 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2002 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2003 the implementation of the port malloc function. */
\r
2004 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2006 if( pxNewTCB != NULL )
\r
2008 /* Allocate space for the stack used by the task being created.
\r
2009 The base of the stack memory stored in the TCB so the task can
\r
2010 be deleted later if required. */
\r
2011 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2013 if( pxNewTCB->pxStack == NULL )
\r
2015 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2016 vPortFree( pxNewTCB );
\r
2021 /* Just to help debugging. */
\r
2022 memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2028 /*-----------------------------------------------------------*/
\r
2030 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2032 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2034 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2035 unsigned short usStackRemaining;
\r
2037 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2038 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2041 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2042 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2043 sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
\r
2044 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2046 } while( pxNextTCB != pxFirstTCB );
\r
2050 /*-----------------------------------------------------------*/
\r
2052 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2054 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
\r
2056 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2057 unsigned long ulStatsAsPercentage;
\r
2059 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2060 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2063 /* Get next TCB in from the list. */
\r
2064 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2066 /* Divide by zero check. */
\r
2067 if( ulTotalRunTime > 0UL )
\r
2069 /* Has the task run at all? */
\r
2070 if( pxNextTCB->ulRunTimeCounter == 0 )
\r
2072 /* The task has used no CPU time at all. */
\r
2073 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2077 /* What percentage of the total run time as the task used?
\r
2078 This will always be rounded down to the nearest integer. */
\r
2079 ulStatsAsPercentage = ( 100UL * pxNextTCB->ulRunTimeCounter ) / ulTotalRunTime;
\r
2081 if( ulStatsAsPercentage > 0UL )
\r
2083 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2087 /* If the percentage is zero here then the task has
\r
2088 consumed less than 1% of the total run time. */
\r
2089 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2093 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2096 } while( pxNextTCB != pxFirstTCB );
\r
2100 /*-----------------------------------------------------------*/
\r
2102 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2104 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2106 register unsigned short usCount = 0;
\r
2108 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2110 pucStackByte -= portSTACK_GROWTH;
\r
2114 usCount /= sizeof( portSTACK_TYPE );
\r
2120 /*-----------------------------------------------------------*/
\r
2122 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2124 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2127 unsigned char *pcEndOfStack;
\r
2128 unsigned portBASE_TYPE uxReturn;
\r
2130 pxTCB = prvGetTCBFromHandle( xTask );
\r
2132 #if portSTACK_GROWTH < 0
\r
2134 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2138 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2142 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2148 /*-----------------------------------------------------------*/
\r
2150 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
\r
2152 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2154 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2155 the task to free any memory allocated at the application level. */
\r
2156 vPortFreeAligned( pxTCB->pxStack );
\r
2157 vPortFree( pxTCB );
\r
2163 /*-----------------------------------------------------------*/
\r
2165 #if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
\r
2167 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2169 xTaskHandle xReturn;
\r
2171 /* A critical section is not required as this is not called from
\r
2172 an interrupt and the current TCB will always be the same for any
\r
2173 individual execution thread. */
\r
2174 xReturn = pxCurrentTCB;
\r
2181 /*-----------------------------------------------------------*/
\r
2183 #if ( INCLUDE_xTaskGetSchedulerState == 1 )
\r
2185 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2187 portBASE_TYPE xReturn;
\r
2189 if( xSchedulerRunning == pdFALSE )
\r
2191 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2195 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2197 xReturn = taskSCHEDULER_RUNNING;
\r
2201 xReturn = taskSCHEDULER_SUSPENDED;
\r
2209 /*-----------------------------------------------------------*/
\r
2211 #if ( configUSE_MUTEXES == 1 )
\r
2213 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2215 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2217 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2219 /* Adjust the mutex holder state to account for its new priority. */
\r
2220 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2222 /* If the task being modified is in the ready state it will need to
\r
2223 be moved in to a new list. */
\r
2224 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
2226 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2228 /* Inherit the priority before being moved into the new list. */
\r
2229 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2230 prvAddTaskToReadyQueue( pxTCB );
\r
2234 /* Just inherit the priority. */
\r
2235 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2241 /*-----------------------------------------------------------*/
\r
2243 #if ( configUSE_MUTEXES == 1 )
\r
2245 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2247 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2249 if( pxMutexHolder != NULL )
\r
2251 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2253 /* We must be the running task to be able to give the mutex back.
\r
2254 Remove ourselves from the ready list we currently appear in. */
\r
2255 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2257 /* Disinherit the priority before adding ourselves into the new
\r
2259 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2260 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2261 prvAddTaskToReadyQueue( pxTCB );
\r
2267 /*-----------------------------------------------------------*/
\r
2269 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2271 void vTaskEnterCritical( void )
\r
2273 portDISABLE_INTERRUPTS();
\r
2275 if( xSchedulerRunning != pdFALSE )
\r
2277 pxCurrentTCB->uxCriticalNesting++;
\r
2282 /*-----------------------------------------------------------*/
\r
2284 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2286 void vTaskExitCritical( void )
\r
2288 if( xSchedulerRunning != pdFALSE )
\r
2290 if( pxCurrentTCB->uxCriticalNesting > 0 )
\r
2292 pxCurrentTCB->uxCriticalNesting--;
\r
2294 if( pxCurrentTCB->uxCriticalNesting == 0 )
\r
2296 portENABLE_INTERRUPTS();
\r
2303 /*-----------------------------------------------------------*/
\r
projects / freertos / blob