git.sur5r.net Git - freertos/blob - Source/tasks.c

   1 /*\r
   2         FreeRTOS.org V5.2.0 - Copyright (C) 2003-2009 Richard Barry.\r
   3 \r
   4         This file is part of the FreeRTOS.org distribution.\r
   5 \r
   6         FreeRTOS.org is free software; you can redistribute it and/or modify it\r
   7         under the terms of the GNU General Public License (version 2) as published\r
   8         by the Free Software Foundation and modified by the FreeRTOS exception.\r
   9 \r
  10         FreeRTOS.org is distributed in the hope that it will be useful, but WITHOUT\r
  11         ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or\r
  12         FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for\r
  13         more details.\r
  14 \r
  15         You should have received a copy of the GNU General Public License along\r
  16         with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59\r
  17         Temple Place, Suite 330, Boston, MA  02111-1307  USA.\r
  18 \r
  19         A special exception to the GPL is included to allow you to distribute a\r
  20         combined work that includes FreeRTOS.org without being obliged to provide\r
  21         the source code for any proprietary components.  See the licensing section\r
  22         of http://www.FreeRTOS.org for full details.\r
  23 \r
  24 \r
  25         ***************************************************************************\r
  26         *                                                                         *\r
  27         * Get the FreeRTOS eBook!  See http://www.FreeRTOS.org/Documentation      *\r
  28         *                                                                         *\r
  29         * This is a concise, step by step, 'hands on' guide that describes both   *\r
  30         * general multitasking concepts and FreeRTOS specifics. It presents and   *\r
  31         * explains numerous examples that are written using the FreeRTOS API.     *\r
  32         * Full source code for all the examples is provided in an accompanying    *\r
  33         * .zip file.                                                              *\r
  34         *                                                                         *\r
  35         ***************************************************************************\r
  36 \r
  37         1 tab == 4 spaces!\r
  38 \r
  39         Please ensure to read the configuration and relevant port sections of the\r
  40         online documentation.\r
  41 \r
  42         http://www.FreeRTOS.org - Documentation, latest information, license and\r
  43         contact details.\r
  44 \r
  45         http://www.SafeRTOS.com - A version that is certified for use in safety\r
  46         critical systems.\r
  47 \r
  48         http://www.OpenRTOS.com - Commercial support, development, porting,\r
  49         licensing and training services.\r
  50 */\r
  51 \r
  52 \r
  53 #include <stdio.h>\r
  54 #include <stdlib.h>\r
  55 #include <string.h>\r
  56 \r
  57 #include "FreeRTOS.h"\r
  58 #include "task.h"\r
  59 #include "StackMacros.h"\r
  60 \r
  61 /*\r
  62  * Macro to define the amount of stack available to the idle task.\r
  63  */\r
  64 #define tskIDLE_STACK_SIZE      configMINIMAL_STACK_SIZE\r
  65 \r
  66 /*\r
  67  * Task control block.  A task control block (TCB) is allocated to each task,\r
  68  * and stores the context of the task.\r
  69  */\r
  70 typedef struct tskTaskControlBlock\r
  71 {\r
  72         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. */\r
  73         xListItem                               xGenericListItem;       /*< List item used to place the TCB in ready and blocked queues. */\r
  74         xListItem                               xEventListItem;         /*< List item used to place the TCB in event lists. */\r
  75         unsigned portBASE_TYPE  uxPriority;                     /*< The priority of the task where 0 is the lowest priority. */\r
  76         portSTACK_TYPE                  *pxStack;                       /*< Points to the start of the stack. */\r
  77         signed portCHAR                 pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created.  Facilitates debugging only. */\r
  78 \r
  79         #if ( portSTACK_GROWTH > 0 )\r
  80                 portSTACK_TYPE *pxEndOfStack;                   /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */\r
  81         #endif\r
  82 \r
  83         #if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
  84                 unsigned portBASE_TYPE uxCriticalNesting;\r
  85         #endif\r
  86 \r
  87         #if ( configUSE_TRACE_FACILITY == 1 )\r
  88                 unsigned portBASE_TYPE  uxTCBNumber;    /*< This is used for tracing the scheduler and making debugging easier only. */\r
  89         #endif  \r
  90                 \r
  91         #if ( configUSE_MUTEXES == 1 )\r
  92                 unsigned portBASE_TYPE uxBasePriority;  /*< The priority last assigned to the task - used by the priority inheritance mechanism. */\r
  93         #endif\r
  94 \r
  95         #if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
  96                 pdTASK_HOOK_CODE pxTaskTag;\r
  97         #endif\r
  98 \r
  99         #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
 100                 unsigned portLONG ulRunTimeCounter;                     /*< Used for calculating how much CPU time each task is utilising. */\r
 101         #endif\r
 102                 \r
 103 } tskTCB;\r
 104 \r
 105 /*\r
 106  * Some kernel aware debuggers require data to be viewed to be global, rather\r
 107  * than file scope.\r
 108  */\r
 109 #ifdef portREMOVE_STATIC_QUALIFIER\r
 110         #define static\r
 111 #endif\r
 112 \r
 113 /*lint -e956 */\r
 114 \r
 115 tskTCB * volatile pxCurrentTCB = NULL;                                  \r
 116 \r
 117 /* Lists for ready and blocked tasks. --------------------*/\r
 118 \r
 119 static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */\r
 120 static xList xDelayedTaskList1;                                                 /*< Delayed tasks. */\r
 121 static xList xDelayedTaskList2;                                                 /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */\r
 122 static xList * volatile pxDelayedTaskList;                              /*< Points to the delayed task list currently being used. */\r
 123 static xList * volatile pxOverflowDelayedTaskList;              /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */\r
 124 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. */\r
 125 \r
 126 #if ( INCLUDE_vTaskDelete == 1 )\r
 127 \r
 128         static volatile xList xTasksWaitingTermination;         /*< Tasks that have been deleted - but the their memory not yet freed. */\r
 129         static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;\r
 130 \r
 131 #endif\r
 132 \r
 133 #if ( INCLUDE_vTaskSuspend == 1 )\r
 134 \r
 135         static xList xSuspendedTaskList;                                        /*< Tasks that are currently suspended. */\r
 136 \r
 137 #endif\r
 138 \r
 139 /* File private variables. --------------------------------*/\r
 140 static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks   = ( unsigned portBASE_TYPE ) 0;\r
 141 static volatile portTickType xTickCount                                                 = ( portTickType ) 0;\r
 142 static unsigned portBASE_TYPE uxTopUsedPriority                                 = tskIDLE_PRIORITY;\r
 143 static volatile unsigned portBASE_TYPE uxTopReadyPriority               = tskIDLE_PRIORITY;\r
 144 static volatile signed portBASE_TYPE xSchedulerRunning                  = pdFALSE;\r
 145 static volatile unsigned portBASE_TYPE uxSchedulerSuspended             = ( unsigned portBASE_TYPE ) pdFALSE;\r
 146 static volatile unsigned portBASE_TYPE uxMissedTicks                    = ( unsigned portBASE_TYPE ) 0;\r
 147 static volatile portBASE_TYPE xMissedYield                                              = ( portBASE_TYPE ) pdFALSE;\r
 148 static volatile portBASE_TYPE xNumOfOverflows                                   = ( portBASE_TYPE ) 0;\r
 149 static unsigned portBASE_TYPE uxTaskNumber                                              = ( unsigned portBASE_TYPE ) 0;\r
 150 \r
 151 #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
 152 \r
 153         static portCHAR pcStatsString[ 50 ];\r
 154         static unsigned portLONG ulTaskSwitchedInTime = 0UL;    /*< Holds the value of a timer/counter the last time a task was switched in. */\r
 155         static void prvGenerateRunTimeStatsForTasksInList( const signed portCHAR *pcWriteBuffer, xList *pxList, unsigned portLONG ulTotalRunTime );\r
 156 \r
 157 #endif\r
 158 \r
 159 /* Debugging and trace facilities private variables and macros. ------------*/\r
 160 \r
 161 /*\r
 162  * The value used to fill the stack of a task when the task is created.  This\r
 163  * is used purely for checking the high water mark for tasks.\r
 164  */\r
 165 #define tskSTACK_FILL_BYTE      ( 0xa5 )\r
 166 \r
 167 /*\r
 168  * Macros used by vListTask to indicate which state a task is in.\r
 169  */\r
 170 #define tskBLOCKED_CHAR         ( ( signed portCHAR ) 'B' )\r
 171 #define tskREADY_CHAR           ( ( signed portCHAR ) 'R' )\r
 172 #define tskDELETED_CHAR         ( ( signed portCHAR ) 'D' )\r
 173 #define tskSUSPENDED_CHAR       ( ( signed portCHAR ) 'S' )\r
 174 \r
 175 /*\r
 176  * Macros and private variables used by the trace facility.\r
 177  */\r
 178 #if ( configUSE_TRACE_FACILITY == 1 )\r
 179 \r
 180         #define tskSIZE_OF_EACH_TRACE_LINE                      ( ( unsigned portLONG ) ( sizeof( unsigned portLONG ) + sizeof( unsigned portLONG ) ) )\r
 181         static volatile signed portCHAR * volatile pcTraceBuffer;\r
 182         static signed portCHAR *pcTraceBufferStart;\r
 183         static signed portCHAR *pcTraceBufferEnd;\r
 184         static signed portBASE_TYPE xTracing = pdFALSE;\r
 185         static unsigned portBASE_TYPE uxPreviousTask = 255;\r
 186         static portCHAR pcStatusString[ 50 ];\r
 187 \r
 188 #endif\r
 189 \r
 190 /*-----------------------------------------------------------*/\r
 191 \r
 192 /*\r
 193  * Macro that writes a trace of scheduler activity to a buffer.  This trace\r
 194  * shows which task is running when and is very useful as a debugging tool.\r
 195  * As this macro is called each context switch it is a good idea to undefine\r
 196  * it if not using the facility.\r
 197  */\r
 198 #if ( configUSE_TRACE_FACILITY == 1 )\r
 199 \r
 200         #define vWriteTraceToBuffer()                                                                                                                                   \\r
 201         {                                                                                                                                                                                               \\r
 202                 if( xTracing )                                                                                                                                                          \\r
 203                 {                                                                                                                                                                                       \\r
 204                         if( uxPreviousTask != pxCurrentTCB->uxTCBNumber )                                                                               \\r
 205                         {                                                                                                                                                                               \\r
 206                                 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd )                         \\r
 207                                 {                                                                                                                                                                       \\r
 208                                         uxPreviousTask = pxCurrentTCB->uxTCBNumber;                                                                             \\r
 209                                         *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) xTickCount;              \\r
 210                                         pcTraceBuffer += sizeof( unsigned portLONG );                                                                   \\r
 211                                         *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) uxPreviousTask;  \\r
 212                                         pcTraceBuffer += sizeof( unsigned portLONG );                                                                   \\r
 213                                 }                                                                                                                                                                       \\r
 214                                 else                                                                                                                                                            \\r
 215                                 {                                                                                                                                                                       \\r
 216                                         xTracing = pdFALSE;                                                                                                                             \\r
 217                                 }                                                                                                                                                                       \\r
 218                         }                                                                                                                                                                               \\r
 219                 }                                                                                                                                                                                       \\r
 220         }\r
 221 \r
 222 #else\r
 223 \r
 224         #define vWriteTraceToBuffer()\r
 225 \r
 226 #endif\r
 227 /*-----------------------------------------------------------*/\r
 228 \r
 229 /*\r
 230  * Place the task represented by pxTCB into the appropriate ready queue for\r
 231  * the task.  It is inserted at the end of the list.  One quirk of this is\r
 232  * that if the task being inserted is at the same priority as the currently\r
 233  * executing task, then it will only be rescheduled after the currently\r
 234  * executing task has been rescheduled.\r
 235  */\r
 236 #define prvAddTaskToReadyQueue( pxTCB )                                                                                                                                                 \\r
 237 {                                                                                                                                                                                                                               \\r
 238         if( pxTCB->uxPriority > uxTopReadyPriority )                                                                                                                            \\r
 239         {                                                                                                                                                                                                                       \\r
 240                 uxTopReadyPriority = pxTCB->uxPriority;                                                                                                                                 \\r
 241         }                                                                                                                                                                                                                       \\r
 242         vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) );        \\r
 243 }\r
 244 /*-----------------------------------------------------------*/         \r
 245 \r
 246 /*\r
 247  * Macro that looks at the list of tasks that are currently delayed to see if\r
 248  * any require waking.\r
 249  *\r
 250  * Tasks are stored in the queue in the order of their wake time - meaning\r
 251  * once one tasks has been found whose timer has not expired we need not look\r
 252  * any further down the list.\r
 253  */\r
 254 #define prvCheckDelayedTasks()                                                                                                                                                                          \\r
 255 {                                                                                                                                                                                                                                       \\r
 256 register tskTCB *pxTCB;                                                                                                                                                                                         \\r
 257                                                                                                                                                                                                                                         \\r
 258         while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL )                                              \\r
 259         {                                                                                                                                                                                                                               \\r
 260                 if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) )                                                                      \\r
 261                 {                                                                                                                                                                                                                       \\r
 262                         break;                                                                                                                                                                                                  \\r
 263                 }                                                                                                                                                                                                                       \\r
 264                 vListRemove( &( pxTCB->xGenericListItem ) );                                                                                                                            \\r
 265                 /* Is the task waiting on an event also? */                                                                                                                                     \\r
 266                 if( pxTCB->xEventListItem.pvContainer )                                                                                                                                         \\r
 267                 {                                                                                                                                                                                                                       \\r
 268                         vListRemove( &( pxTCB->xEventListItem ) );                                                                                                                              \\r
 269                 }                                                                                                                                                                                                                       \\r
 270                 prvAddTaskToReadyQueue( pxTCB );                                                                                                                                                        \\r
 271         }                                                                                                                                                                                                                               \\r
 272 }\r
 273 /*-----------------------------------------------------------*/\r
 274 \r
 275 /*\r
 276  * Several functions take an xTaskHandle parameter that can optionally be NULL,\r
 277  * where NULL is used to indicate that the handle of the currently executing\r
 278  * task should be used in place of the parameter.  This macro simply checks to\r
 279  * see if the parameter is NULL and returns a pointer to the appropriate TCB.\r
 280  */\r
 281 #define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )\r
 282 \r
 283 \r
 284 /* File private functions. --------------------------------*/\r
 285 \r
 286 /*\r
 287  * Utility to ready a TCB for a given task.  Mainly just copies the parameters\r
 288  * into the TCB structure.\r
 289  */\r
 290 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority );\r
 291 \r
 292 /*\r
 293  * Utility to ready all the lists used by the scheduler.  This is called\r
 294  * automatically upon the creation of the first task.\r
 295  */\r
 296 static void prvInitialiseTaskLists( void );\r
 297 \r
 298 /*\r
 299  * The idle task, which as all tasks is implemented as a never ending loop.\r
 300  * The idle task is automatically created and added to the ready lists upon\r
 301  * creation of the first user task.\r
 302  *\r
 303  * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific\r
 304  * language extensions.  The equivalent prototype for this function is:\r
 305  *\r
 306  * void prvIdleTask( void *pvParameters );\r
 307  *\r
 308  */\r
 309 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );\r
 310 \r
 311 /*\r
 312  * Utility to free all memory allocated by the scheduler to hold a TCB,\r
 313  * including the stack pointed to by the TCB.\r
 314  *\r
 315  * This does not free memory allocated by the task itself (i.e. memory\r
 316  * allocated by calls to pvPortMalloc from within the tasks application code).\r
 317  */\r
 318 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )\r
 319 \r
 320         static void prvDeleteTCB( tskTCB *pxTCB );\r
 321 \r
 322 #endif\r
 323 \r
 324 /*\r
 325  * Used only by the idle task.  This checks to see if anything has been placed\r
 326  * in the list of tasks waiting to be deleted.  If so the task is cleaned up\r
 327  * and its TCB deleted.\r
 328  */\r
 329 static void prvCheckTasksWaitingTermination( void );\r
 330 \r
 331 /*\r
 332  * Allocates memory from the heap for a TCB and associated stack.  Checks the\r
 333  * allocation was successful.\r
 334  */\r
 335 static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );\r
 336 \r
 337 /*\r
 338  * Called from vTaskList.  vListTasks details all the tasks currently under\r
 339  * control of the scheduler.  The tasks may be in one of a number of lists.\r
 340  * prvListTaskWithinSingleList accepts a list and details the tasks from\r
 341  * within just that list.\r
 342  *\r
 343  * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM\r
 344  * NORMAL APPLICATION CODE.\r
 345  */\r
 346 #if ( configUSE_TRACE_FACILITY == 1 )\r
 347 \r
 348         static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus );\r
 349 \r
 350 #endif\r
 351 \r
 352 /*\r
 353  * When a task is created, the stack of the task is filled with a known value.\r
 354  * This function determines the 'high water mark' of the task stack by\r
 355  * determining how much of the stack remains at the original preset value.\r
 356  */\r
 357 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )\r
 358 \r
 359         unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte );\r
 360 \r
 361 #endif\r
 362 \r
 363 \r
 364 /*lint +e956 */\r
 365 \r
 366 \r
 367 \r
 368 /*-----------------------------------------------------------\r
 369  * TASK CREATION API documented in task.h\r
 370  *----------------------------------------------------------*/\r
 371 \r
 372 signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask )\r
 373 {\r
 374 signed portBASE_TYPE xReturn;\r
 375 tskTCB * pxNewTCB;\r
 376 \r
 377         /* Allocate the memory required by the TCB and stack for the new task.\r
 378         checking that the allocation was successful. */\r
 379         pxNewTCB = prvAllocateTCBAndStack( usStackDepth );\r
 380 \r
 381         if( pxNewTCB != NULL )\r
 382         {               \r
 383                 portSTACK_TYPE *pxTopOfStack;\r
 384 \r
 385                 /* Setup the newly allocated TCB with the initial state of the task. */\r
 386                 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority );\r
 387 \r
 388                 /* Calculate the top of stack address.  This depends on whether the\r
 389                 stack grows from high memory to low (as per the 80x86) or visa versa.\r
 390                 portSTACK_GROWTH is used to make the result positive or negative as\r
 391                 required by the port. */\r
 392                 #if portSTACK_GROWTH < 0\r
 393                 {\r
 394                         pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );\r
 395                 }\r
 396                 #else\r
 397                 {\r
 398                         pxTopOfStack = pxNewTCB->pxStack;       \r
 399 \r
 400                         /* If we want to use stack checking on architectures that use\r
 401                         a positive stack growth direction then we also need to store the\r
 402                         other extreme of the stack space. */\r
 403                         pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );\r
 404                 }\r
 405                 #endif\r
 406 \r
 407                 /* Initialize the TCB stack to look as if the task was already running,\r
 408                 but had been interrupted by the scheduler.  The return address is set\r
 409                 to the start of the task function. Once the stack has been initialised\r
 410                 the     top of stack variable is updated. */\r
 411                 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pvTaskCode, pvParameters );\r
 412 \r
 413                 /* We are going to manipulate the task queues to add this task to a\r
 414                 ready list, so must make sure no interrupts occur. */\r
 415                 portENTER_CRITICAL();\r
 416                 {\r
 417                         uxCurrentNumberOfTasks++;\r
 418                         if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )\r
 419                         {\r
 420                                 /* As this is the first task it must also be the current task. */\r
 421                                 pxCurrentTCB =  pxNewTCB;\r
 422 \r
 423                                 /* This is the first task to be created so do the preliminary\r
 424                                 initialisation required.  We will not recover if this call\r
 425                                 fails, but we will report the failure. */\r
 426                                 prvInitialiseTaskLists();\r
 427                         }\r
 428                         else\r
 429                         {       \r
 430                                 /* If the scheduler is not already running, make this task the\r
 431                                 current task if it is the highest priority task to be created\r
 432                                 so far. */\r
 433                                 if( xSchedulerRunning == pdFALSE )\r
 434                                 {\r
 435                                         if( pxCurrentTCB->uxPriority <= uxPriority )\r
 436                                         {\r
 437                                                 pxCurrentTCB = pxNewTCB;        \r
 438                                         }\r
 439                                 }\r
 440                         }                               \r
 441 \r
 442                         /* Remember the top priority to make context switching faster.  Use\r
 443                         the priority in pxNewTCB as this has been capped to a valid value. */\r
 444                         if( pxNewTCB->uxPriority > uxTopUsedPriority )\r
 445                         {\r
 446                                 uxTopUsedPriority = pxNewTCB->uxPriority;\r
 447                         }\r
 448 \r
 449                         #if ( configUSE_TRACE_FACILITY == 1 )\r
 450                         {\r
 451                                 /* Add a counter into the TCB for tracing only. */\r
 452                                 pxNewTCB->uxTCBNumber = uxTaskNumber;\r
 453                         }\r
 454                         #endif\r
 455                         uxTaskNumber++;\r
 456 \r
 457                         prvAddTaskToReadyQueue( pxNewTCB );\r
 458 \r
 459                         xReturn = pdPASS;\r
 460                         traceTASK_CREATE( pxNewTCB );\r
 461                 }\r
 462                 portEXIT_CRITICAL();\r
 463         }\r
 464         else\r
 465         {\r
 466                 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;\r
 467                 traceTASK_CREATE_FAILED( pxNewTCB );\r
 468         }\r
 469 \r
 470         if( xReturn == pdPASS )\r
 471         {\r
 472                 if( ( void * ) pxCreatedTask != NULL )\r
 473                 {\r
 474                         /* Pass the TCB out - in an anonymous way.  The calling function/\r
 475                         task can use this as a handle to delete the task later if\r
 476                         required.*/\r
 477                         *pxCreatedTask = ( xTaskHandle ) pxNewTCB;\r
 478                 }\r
 479 \r
 480                 if( xSchedulerRunning != pdFALSE )\r
 481                 {\r
 482                         /* If the created task is of a higher priority than the current task\r
 483                         then it should run now. */\r
 484                         if( pxCurrentTCB->uxPriority < uxPriority )\r
 485                         {\r
 486                                 taskYIELD();\r
 487                         }\r
 488                 }\r
 489         }\r
 490 \r
 491         return xReturn;\r
 492 }\r
 493 /*-----------------------------------------------------------*/\r
 494 \r
 495 #if ( INCLUDE_vTaskDelete == 1 )\r
 496 \r
 497         void vTaskDelete( xTaskHandle pxTaskToDelete )\r
 498         {\r
 499         tskTCB *pxTCB;\r
 500 \r
 501                 taskENTER_CRITICAL();\r
 502                 {\r
 503                         /* Ensure a yield is performed if the current task is being\r
 504                         deleted. */\r
 505                         if( pxTaskToDelete == pxCurrentTCB )\r
 506                         {\r
 507                                 pxTaskToDelete = NULL;\r
 508                         }\r
 509 \r
 510                         /* If null is passed in here then we are deleting ourselves. */\r
 511                         pxTCB = prvGetTCBFromHandle( pxTaskToDelete );\r
 512 \r
 513                         traceTASK_DELETE( pxTCB );\r
 514 \r
 515                         /* Remove task from the ready list and place in the     termination list.\r
 516                         This will stop the task from be scheduled.  The idle task will check\r
 517                         the termination list and free up any memory allocated by the\r
 518                         scheduler for the TCB and stack. */\r
 519                         vListRemove( &( pxTCB->xGenericListItem ) );\r
 520 \r
 521                         /* Is the task waiting on an event also? */                                                                                             \r
 522                         if( pxTCB->xEventListItem.pvContainer )\r
 523                         {\r
 524                                 vListRemove( &( pxTCB->xEventListItem ) );\r
 525                         }\r
 526 \r
 527                         vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );\r
 528 \r
 529                         /* Increment the ucTasksDeleted variable so the idle task knows\r
 530                         there is a task that has been deleted and that it should therefore\r
 531                         check the xTasksWaitingTermination list. */\r
 532                         ++uxTasksDeleted;\r
 533 \r
 534                         /* Increment the uxTaskNumberVariable also so kernel aware debuggers\r
 535                         can detect that the task lists need re-generating. */                   \r
 536                         uxTaskNumber++;\r
 537                 }\r
 538                 taskEXIT_CRITICAL();\r
 539 \r
 540                 /* Force a reschedule if we have just deleted the current task. */\r
 541                 if( xSchedulerRunning != pdFALSE )\r
 542                 {\r
 543                         if( ( void * ) pxTaskToDelete == NULL )\r
 544                         {\r
 545                                 taskYIELD();\r
 546                         }\r
 547                 }\r
 548         }\r
 549 \r
 550 #endif\r
 551 \r
 552 \r
 553 \r
 554 \r
 555 \r
 556 \r
 557 /*-----------------------------------------------------------\r
 558  * TASK CONTROL API documented in task.h\r
 559  *----------------------------------------------------------*/\r
 560 \r
 561 #if ( INCLUDE_vTaskDelayUntil == 1 )\r
 562 \r
 563         void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )\r
 564         {\r
 565         portTickType xTimeToWake;\r
 566         portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;\r
 567 \r
 568                 vTaskSuspendAll();\r
 569                 {\r
 570                         /* Generate the tick time at which the task wants to wake. */\r
 571                         xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;\r
 572 \r
 573                         if( xTickCount < *pxPreviousWakeTime )\r
 574                         {\r
 575                                 /* The tick count has overflowed since this function was\r
 576                                 lasted called.  In this case the only time we should ever\r
 577                                 actually delay is if the wake time has also     overflowed,\r
 578                                 and the wake time is greater than the tick time.  When this\r
 579                                 is the case it is as if neither time had overflowed. */\r
 580                                 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )\r
 581                                 {\r
 582                                         xShouldDelay = pdTRUE;\r
 583                                 }\r
 584                         }\r
 585                         else\r
 586                         {\r
 587                                 /* The tick time has not overflowed.  In this case we will\r
 588                                 delay if either the wake time has overflowed, and/or the\r
 589                                 tick time is less than the wake time. */\r
 590                                 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )\r
 591                                 {\r
 592                                         xShouldDelay = pdTRUE;\r
 593                                 }\r
 594                         }\r
 595 \r
 596                         /* Update the wake time ready for the next call. */\r
 597                         *pxPreviousWakeTime = xTimeToWake;\r
 598 \r
 599                         if( xShouldDelay )\r
 600                         {\r
 601                                 traceTASK_DELAY_UNTIL();\r
 602 \r
 603                                 /* We must remove ourselves from the ready list before adding\r
 604                                 ourselves to the blocked list as the same list item is used for\r
 605                                 both lists. */\r
 606                                 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
 607 \r
 608                                 /* The list item will be inserted in wake time order. */\r
 609                                 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );\r
 610 \r
 611                                 if( xTimeToWake < xTickCount )\r
 612                                 {\r
 613                                         /* Wake time has overflowed.  Place this item in the\r
 614                                         overflow list. */\r
 615                                         vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
 616                                 }\r
 617                                 else\r
 618                                 {\r
 619                                         /* The wake time has not overflowed, so we can use the\r
 620                                         current block list. */\r
 621                                         vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
 622                                 }\r
 623                         }\r
 624                 }\r
 625                 xAlreadyYielded = xTaskResumeAll();\r
 626 \r
 627                 /* Force a reschedule if xTaskResumeAll has not already done so, we may\r
 628                 have put ourselves to sleep. */\r
 629                 if( !xAlreadyYielded )\r
 630                 {\r
 631                         taskYIELD();\r
 632                 }\r
 633         }       \r
 634         \r
 635 #endif\r
 636 /*-----------------------------------------------------------*/\r
 637 \r
 638 #if ( INCLUDE_vTaskDelay == 1 )\r
 639 \r
 640         void vTaskDelay( portTickType xTicksToDelay )\r
 641         {\r
 642         portTickType xTimeToWake;\r
 643         signed portBASE_TYPE xAlreadyYielded = pdFALSE;\r
 644 \r
 645                 /* A delay time of zero just forces a reschedule. */\r
 646                 if( xTicksToDelay > ( portTickType ) 0 )\r
 647                 {\r
 648                         vTaskSuspendAll();\r
 649                         {\r
 650                                 traceTASK_DELAY();\r
 651 \r
 652                                 /* A task that is removed from the event list while the\r
 653                                 scheduler is suspended will not get placed in the ready\r
 654                                 list or removed from the blocked list until the scheduler\r
 655                                 is resumed.\r
 656                                 \r
 657                                 This task cannot be in an event list as it is the currently\r
 658                                 executing task. */\r
 659 \r
 660                                 /* Calculate the time to wake - this may overflow but this is\r
 661                                 not a problem. */\r
 662                                 xTimeToWake = xTickCount + xTicksToDelay;\r
 663 \r
 664                                 /* We must remove ourselves from the ready list before adding\r
 665                                 ourselves to the blocked list as the same list item is used for\r
 666                                 both lists. */\r
 667                                 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
 668 \r
 669                                 /* The list item will be inserted in wake time order. */\r
 670                                 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );\r
 671 \r
 672                                 if( xTimeToWake < xTickCount )\r
 673                                 {\r
 674                                         /* Wake time has overflowed.  Place this item in the\r
 675                                         overflow list. */\r
 676                                         vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
 677                                 }\r
 678                                 else\r
 679                                 {\r
 680                                         /* The wake time has not overflowed, so we can use the\r
 681                                         current block list. */\r
 682                                         vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
 683                                 }\r
 684                         }\r
 685                         xAlreadyYielded = xTaskResumeAll();\r
 686                 }\r
 687                 \r
 688                 /* Force a reschedule if xTaskResumeAll has not already done so, we may\r
 689                 have put ourselves to sleep. */\r
 690                 if( !xAlreadyYielded )\r
 691                 {\r
 692                         taskYIELD();\r
 693                 }\r
 694         }\r
 695         \r
 696 #endif\r
 697 /*-----------------------------------------------------------*/\r
 698 \r
 699 #if ( INCLUDE_uxTaskPriorityGet == 1 )\r
 700 \r
 701         unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )\r
 702         {\r
 703         tskTCB *pxTCB;\r
 704         unsigned portBASE_TYPE uxReturn;\r
 705 \r
 706                 taskENTER_CRITICAL();\r
 707                 {\r
 708                         /* If null is passed in here then we are changing the\r
 709                         priority of the calling function. */\r
 710                         pxTCB = prvGetTCBFromHandle( pxTask );\r
 711                         uxReturn = pxTCB->uxPriority;\r
 712                 }\r
 713                 taskEXIT_CRITICAL();\r
 714 \r
 715                 return uxReturn;\r
 716         }\r
 717 \r
 718 #endif\r
 719 /*-----------------------------------------------------------*/\r
 720 \r
 721 #if ( INCLUDE_vTaskPrioritySet == 1 )\r
 722 \r
 723         void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )\r
 724         {\r
 725         tskTCB *pxTCB;\r
 726         unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;\r
 727 \r
 728                 /* Ensure the new priority is valid. */\r
 729                 if( uxNewPriority >= configMAX_PRIORITIES )\r
 730                 {\r
 731                         uxNewPriority = configMAX_PRIORITIES - 1;\r
 732                 }\r
 733 \r
 734                 taskENTER_CRITICAL();\r
 735                 {\r
 736                         if( pxTask == pxCurrentTCB )\r
 737                         {\r
 738                                 pxTask = NULL;\r
 739                         }\r
 740 \r
 741                         /* If null is passed in here then we are changing the\r
 742                         priority of the calling function. */\r
 743                         pxTCB = prvGetTCBFromHandle( pxTask );\r
 744                         \r
 745                         traceTASK_PRIORITY_SET( pxTask, uxNewPriority );\r
 746 \r
 747                         #if ( configUSE_MUTEXES == 1 )\r
 748                         {\r
 749                                 uxCurrentPriority = pxTCB->uxBasePriority;\r
 750                         }\r
 751                         #else\r
 752                         {\r
 753                                 uxCurrentPriority = pxTCB->uxPriority;\r
 754                         }\r
 755                         #endif\r
 756 \r
 757                         if( uxCurrentPriority != uxNewPriority )\r
 758                         {\r
 759                                 /* The priority change may have readied a task of higher\r
 760                                 priority than the calling task. */\r
 761                                 if( uxNewPriority > uxCurrentPriority )\r
 762                                 {\r
 763                                         if( pxTask != NULL )\r
 764                                         {\r
 765                                                 /* The priority of another task is being raised.  If we\r
 766                                                 were raising the priority of the currently running task\r
 767                                                 there would be no need to switch as it must have already\r
 768                                                 been the highest priority task. */\r
 769                                                 xYieldRequired = pdTRUE;\r
 770                                         }\r
 771                                 }\r
 772                                 else if( pxTask == NULL )\r
 773                                 {\r
 774                                         /* Setting our own priority down means there may now be another\r
 775                                         task of higher priority that is ready to execute. */\r
 776                                         xYieldRequired = pdTRUE;\r
 777                                 }\r
 778                         \r
 779                                 \r
 780 \r
 781                                 #if ( configUSE_MUTEXES == 1 )\r
 782                                 {\r
 783                                         /* Only change the priority being used if the task is not\r
 784                                         currently using an inherited priority. */\r
 785                                         if( pxTCB->uxBasePriority == pxTCB->uxPriority )\r
 786                                         {\r
 787                                                 pxTCB->uxPriority = uxNewPriority;\r
 788                                         }\r
 789                                         \r
 790                                         /* The base priority gets set whatever. */\r
 791                                         pxTCB->uxBasePriority = uxNewPriority;                                  \r
 792                                 }\r
 793                                 #else\r
 794                                 {\r
 795                                         pxTCB->uxPriority = uxNewPriority;\r
 796                                 }\r
 797                                 #endif\r
 798 \r
 799                                 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );\r
 800 \r
 801                                 /* If the task is in the blocked or suspended list we need do\r
 802                                 nothing more than change it's priority variable. However, if\r
 803                                 the task is in a ready list it needs to be removed and placed\r
 804                                 in the queue appropriate to its new priority. */\r
 805                                 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )\r
 806                                 {\r
 807                                         /* The task is currently in its ready list - remove before adding\r
 808                                         it to it's new ready list.  As we are in a critical section we\r
 809                                         can do this even if the scheduler is suspended. */\r
 810                                         vListRemove( &( pxTCB->xGenericListItem ) );\r
 811                                         prvAddTaskToReadyQueue( pxTCB );\r
 812                                 }                       \r
 813                                 \r
 814                                 if( xYieldRequired == pdTRUE )\r
 815                                 {\r
 816                                         taskYIELD();\r
 817                                 }                               \r
 818                         }\r
 819                 }\r
 820                 taskEXIT_CRITICAL();\r
 821         }\r
 822 \r
 823 #endif\r
 824 /*-----------------------------------------------------------*/\r
 825 \r
 826 #if ( INCLUDE_vTaskSuspend == 1 )\r
 827 \r
 828         void vTaskSuspend( xTaskHandle pxTaskToSuspend )\r
 829         {\r
 830         tskTCB *pxTCB;\r
 831 \r
 832                 taskENTER_CRITICAL();\r
 833                 {\r
 834                         /* Ensure a yield is performed if the current task is being\r
 835                         suspended. */\r
 836                         if( pxTaskToSuspend == pxCurrentTCB )\r
 837                         {\r
 838                                 pxTaskToSuspend = NULL;\r
 839                         }\r
 840 \r
 841                         /* If null is passed in here then we are suspending ourselves. */\r
 842                         pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );\r
 843 \r
 844                         traceTASK_SUSPEND( pxTCB );\r
 845 \r
 846                         /* Remove task from the ready/delayed list and place in the     suspended list. */\r
 847                         vListRemove( &( pxTCB->xGenericListItem ) );\r
 848 \r
 849                         /* Is the task waiting on an event also? */                                                                                             \r
 850                         if( pxTCB->xEventListItem.pvContainer )\r
 851                         {\r
 852                                 vListRemove( &( pxTCB->xEventListItem ) );\r
 853                         }\r
 854 \r
 855                         vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );\r
 856                 }\r
 857                 taskEXIT_CRITICAL();\r
 858 \r
 859                 /* We may have just suspended the current task. */\r
 860                 if( ( void * ) pxTaskToSuspend == NULL )\r
 861                 {\r
 862                         taskYIELD();\r
 863                 }\r
 864         }\r
 865 \r
 866 #endif\r
 867 /*-----------------------------------------------------------*/\r
 868 \r
 869 #if ( INCLUDE_vTaskSuspend == 1 )\r
 870 \r
 871         signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )\r
 872         {\r
 873         portBASE_TYPE xReturn = pdFALSE;\r
 874         const tskTCB * const pxTCB = ( tskTCB * ) xTask;\r
 875 \r
 876                 /* Is the task we are attempting to resume actually in the\r
 877                 suspended list? */\r
 878                 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )\r
 879                 {\r
 880                         /* Has the task already been resumed from within an ISR? */\r
 881                         if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )\r
 882                         {                       \r
 883                                 /* Is it in the suspended list because it is in the\r
 884                                 Suspended state?  It is possible to be in the suspended\r
 885                                 list because it is blocked on a task with no timeout\r
 886                                 specified. */\r
 887                                 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )\r
 888                                 {\r
 889                                         xReturn = pdTRUE;\r
 890                                 }\r
 891                         }\r
 892                 }\r
 893 \r
 894                 return xReturn;\r
 895         }\r
 896 \r
 897 #endif\r
 898 /*-----------------------------------------------------------*/\r
 899 \r
 900 #if ( INCLUDE_vTaskSuspend == 1 )\r
 901 \r
 902         void vTaskResume( xTaskHandle pxTaskToResume )\r
 903         {\r
 904         tskTCB *pxTCB;\r
 905 \r
 906                 /* Remove the task from whichever list it is currently in, and place\r
 907                 it in the ready list. */\r
 908                 pxTCB = ( tskTCB * ) pxTaskToResume;\r
 909 \r
 910                 /* The parameter cannot be NULL as it is impossible to resume the\r
 911                 currently executing task. */\r
 912                 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )\r
 913                 {\r
 914                         taskENTER_CRITICAL();\r
 915                         {\r
 916                                 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )\r
 917                                 {\r
 918                                         traceTASK_RESUME( pxTCB );\r
 919 \r
 920                                         /* As we are in a critical section we can access the ready\r
 921                                         lists even if the scheduler is suspended. */\r
 922                                         vListRemove(  &( pxTCB->xGenericListItem ) );\r
 923                                         prvAddTaskToReadyQueue( pxTCB );\r
 924 \r
 925                                         /* We may have just resumed a higher priority task. */\r
 926                                         if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
 927                                         {\r
 928                                                 /* This yield may not cause the task just resumed to run, but\r
 929                                                 will leave the lists in the correct state for the next yield. */\r
 930                                                 taskYIELD();\r
 931                                         }\r
 932                                 }\r
 933                         }\r
 934                         taskEXIT_CRITICAL();\r
 935                 }\r
 936         }\r
 937 \r
 938 #endif\r
 939 \r
 940 /*-----------------------------------------------------------*/\r
 941 \r
 942 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )\r
 943 \r
 944         portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )\r
 945         {\r
 946         portBASE_TYPE xYieldRequired = pdFALSE;\r
 947         tskTCB *pxTCB;\r
 948 \r
 949                 pxTCB = ( tskTCB * ) pxTaskToResume;\r
 950 \r
 951                 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )\r
 952                 {\r
 953                         traceTASK_RESUME_FROM_ISR( pxTCB );\r
 954 \r
 955                         if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
 956                         {\r
 957                                 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );\r
 958                                 vListRemove(  &( pxTCB->xGenericListItem ) );   \r
 959                                 prvAddTaskToReadyQueue( pxTCB );\r
 960                         }\r
 961                         else\r
 962                         {\r
 963                                 /* We cannot access the delayed or ready lists, so will hold this\r
 964                                 task pending until the scheduler is resumed, at which point a\r
 965                                 yield will be performed if necessary. */\r
 966                                 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );\r
 967                         }\r
 968                 }\r
 969 \r
 970                 return xYieldRequired;\r
 971         }\r
 972 \r
 973 #endif\r
 974 \r
 975 \r
 976 \r
 977 \r
 978 /*-----------------------------------------------------------\r
 979  * PUBLIC SCHEDULER CONTROL documented in task.h\r
 980  *----------------------------------------------------------*/\r
 981 \r
 982 \r
 983 void vTaskStartScheduler( void )\r
 984 {\r
 985 portBASE_TYPE xReturn;\r
 986 \r
 987         /* Add the idle task at the lowest priority. */\r
 988         xReturn = xTaskCreate( prvIdleTask, ( signed portCHAR * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );\r
 989 \r
 990         if( xReturn == pdPASS )\r
 991         {\r
 992                 /* Interrupts are turned off here, to ensure a tick does not occur\r
 993                 before or during the call to xPortStartScheduler().  The stacks of\r
 994                 the created tasks contain a status word with interrupts switched on\r
 995                 so interrupts will automatically get re-enabled when the first task\r
 996                 starts to run.\r
 997                 \r
 998                 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE\r
 999                 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */\r
1000                 portDISABLE_INTERRUPTS();\r
1001 \r
1002                 xSchedulerRunning = pdTRUE;\r
1003                 xTickCount = ( portTickType ) 0;\r
1004 \r
1005                 /* If configGENERATE_RUN_TIME_STATS is defined then the following\r
1006                 macro must be defined to configure the timer/counter used to generate\r
1007                 the run time counter time base. */\r
1008                 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();\r
1009 \r
1010                 /* Setting up the timer tick is hardware specific and thus in the\r
1011                 portable interface. */\r
1012                 if( xPortStartScheduler() )\r
1013                 {\r
1014                         /* Should not reach here as if the scheduler is running the\r
1015                         function will not return. */\r
1016                 }\r
1017                 else\r
1018                 {\r
1019                         /* Should only reach here if a task calls xTaskEndScheduler(). */\r
1020                 }\r
1021         }\r
1022 }\r
1023 /*-----------------------------------------------------------*/\r
1024 \r
1025 void vTaskEndScheduler( void )\r
1026 {\r
1027         /* Stop the scheduler interrupts and call the portable scheduler end\r
1028         routine so the original ISRs can be restored if necessary.  The port\r
1029         layer must ensure interrupts enable     bit is left in the correct state. */\r
1030         portDISABLE_INTERRUPTS();\r
1031         xSchedulerRunning = pdFALSE;\r
1032         vPortEndScheduler();\r
1033 }\r
1034 /*----------------------------------------------------------*/\r
1035 \r
1036 void vTaskSuspendAll( void )\r
1037 {\r
1038         /* A critical section is not required as the variable is of type\r
1039         portBASE_TYPE. */\r
1040         ++uxSchedulerSuspended;\r
1041 }\r
1042 /*----------------------------------------------------------*/\r
1043 \r
1044 signed portBASE_TYPE xTaskResumeAll( void )\r
1045 {\r
1046 register tskTCB *pxTCB;\r
1047 signed portBASE_TYPE xAlreadyYielded = pdFALSE;\r
1048 \r
1049         /* It is possible that an ISR caused a task to be removed from an event\r
1050         list while the scheduler was suspended.  If this was the case then the\r
1051         removed task will have been added to the xPendingReadyList.  Once the\r
1052         scheduler has been resumed it is safe to move all the pending ready\r
1053         tasks from this list into their appropriate ready list. */\r
1054         portENTER_CRITICAL();\r
1055         {\r
1056                 --uxSchedulerSuspended;\r
1057 \r
1058                 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
1059                 {                       \r
1060                         if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )\r
1061                         {\r
1062                                 portBASE_TYPE xYieldRequired = pdFALSE;\r
1063                                 \r
1064                                 /* Move any readied tasks from the pending list into the\r
1065                                 appropriate ready list. */\r
1066                                 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY(  ( ( xList * ) &xPendingReadyList ) ) ) != NULL )\r
1067                                 {\r
1068                                         vListRemove( &( pxTCB->xEventListItem ) );\r
1069                                         vListRemove( &( pxTCB->xGenericListItem ) );\r
1070                                         prvAddTaskToReadyQueue( pxTCB );\r
1071                                         \r
1072                                         /* If we have moved a task that has a priority higher than\r
1073                                         the current task then we should yield. */\r
1074                                         if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
1075                                         {\r
1076                                                 xYieldRequired = pdTRUE;\r
1077                                         }\r
1078                                 }\r
1079 \r
1080                                 /* If any ticks occurred while the scheduler was suspended then\r
1081                                 they should be processed now.  This ensures the tick count does not\r
1082                                 slip, and that any delayed tasks are resumed at the correct time. */\r
1083                                 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )\r
1084                                 {\r
1085                                         while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )\r
1086                                         {\r
1087                                                 vTaskIncrementTick();\r
1088                                                 --uxMissedTicks;\r
1089                                         }\r
1090 \r
1091                                         /* As we have processed some ticks it is appropriate to yield\r
1092                                         to ensure the highest priority task that is ready to run is\r
1093                                         the task actually running. */\r
1094                                         #if configUSE_PREEMPTION == 1\r
1095                                         {\r
1096                                                 xYieldRequired = pdTRUE;\r
1097                                         }\r
1098                                         #endif\r
1099                                 }\r
1100                                 \r
1101                                 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )\r
1102                                 {\r
1103                                         xAlreadyYielded = pdTRUE;\r
1104                                         xMissedYield = pdFALSE;\r
1105                                         taskYIELD();\r
1106                                 }\r
1107                         }\r
1108                 }\r
1109         }\r
1110         portEXIT_CRITICAL();\r
1111 \r
1112         return xAlreadyYielded;\r
1113 }\r
1114 \r
1115 \r
1116 \r
1117 \r
1118 \r
1119 \r
1120 /*-----------------------------------------------------------\r
1121  * PUBLIC TASK UTILITIES documented in task.h\r
1122  *----------------------------------------------------------*/\r
1123 \r
1124 \r
1125 \r
1126 portTickType xTaskGetTickCount( void )\r
1127 {\r
1128 portTickType xTicks;\r
1129 \r
1130         /* Critical section required if running on a 16 bit processor. */\r
1131         taskENTER_CRITICAL();\r
1132         {\r
1133                 xTicks = xTickCount;\r
1134         }\r
1135         taskEXIT_CRITICAL();\r
1136 \r
1137         return xTicks;\r
1138 }\r
1139 /*-----------------------------------------------------------*/\r
1140 \r
1141 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )\r
1142 {\r
1143         /* A critical section is not required because the variables are of type\r
1144         portBASE_TYPE. */\r
1145         return uxCurrentNumberOfTasks;\r
1146 }\r
1147 /*-----------------------------------------------------------*/\r
1148 \r
1149 #if ( configUSE_TRACE_FACILITY == 1 )\r
1150 \r
1151         void vTaskList( signed portCHAR *pcWriteBuffer )\r
1152         {\r
1153         unsigned portBASE_TYPE uxQueue;\r
1154 \r
1155                 /* This is a VERY costly function that should be used for debug only.\r
1156                 It leaves interrupts disabled for a LONG time. */\r
1157 \r
1158         vTaskSuspendAll();\r
1159                 {\r
1160                         /* Run through all the lists that could potentially contain a TCB and\r
1161                         report the task name, state and stack high water mark. */\r
1162 \r
1163                         pcWriteBuffer[ 0 ] = ( signed portCHAR ) 0x00;\r
1164                         strcat( ( portCHAR * ) pcWriteBuffer, ( const portCHAR * ) "\r\n" );\r
1165 \r
1166                         uxQueue = uxTopUsedPriority + 1;\r
1167 \r
1168                         do\r
1169                         {\r
1170                                 uxQueue--;\r
1171 \r
1172                                 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )\r
1173                                 {\r
1174                                         prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );                     \r
1175                                 }\r
1176                         }while( uxQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );\r
1177 \r
1178                         if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )\r
1179                         {\r
1180                                 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );\r
1181                         }\r
1182 \r
1183                         if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )\r
1184                         {\r
1185                                 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );\r
1186                         }\r
1187 \r
1188                         #if( INCLUDE_vTaskDelete == 1 )\r
1189                         {\r
1190                                 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )\r
1191                                 {\r
1192                                         prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );\r
1193                                 }\r
1194                         }\r
1195                         #endif\r
1196 \r
1197                         #if ( INCLUDE_vTaskSuspend == 1 )\r
1198                         {\r
1199                                 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )\r
1200                                 {\r
1201                                         prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );\r
1202                                 }\r
1203                         }\r
1204                         #endif\r
1205                 }\r
1206         xTaskResumeAll();\r
1207         }\r
1208 \r
1209 #endif\r
1210 /*----------------------------------------------------------*/\r
1211 \r
1212 #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
1213 \r
1214         void vTaskGetRunTimeStats( signed portCHAR *pcWriteBuffer )\r
1215         {\r
1216         unsigned portBASE_TYPE uxQueue;\r
1217         unsigned portLONG ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();\r
1218 \r
1219                 /* This is a VERY costly function that should be used for debug only.\r
1220                 It leaves interrupts disabled for a LONG time. */\r
1221 \r
1222         vTaskSuspendAll();\r
1223                 {\r
1224                         /* Run through all the lists that could potentially contain a TCB,\r
1225                         generating a table of run timer percentages in the provided \r
1226                         buffer. */\r
1227 \r
1228                         pcWriteBuffer[ 0 ] = ( signed portCHAR ) 0x00;\r
1229                         strcat( ( portCHAR * ) pcWriteBuffer, ( const portCHAR * ) "\r\n" );\r
1230 \r
1231                         uxQueue = uxTopUsedPriority + 1;\r
1232 \r
1233                         do\r
1234                         {\r
1235                                 uxQueue--;\r
1236 \r
1237                                 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )\r
1238                                 {\r
1239                                         prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );\r
1240                                 }\r
1241                         }while( uxQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );\r
1242 \r
1243                         if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )\r
1244                         {\r
1245                                 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );\r
1246                         }\r
1247 \r
1248                         if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )\r
1249                         {\r
1250                                 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );\r
1251                         }\r
1252 \r
1253                         #if ( INCLUDE_vTaskDelete == 1 )\r
1254                         {\r
1255                                 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )\r
1256                                 {\r
1257                                         prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, ulTotalRunTime );\r
1258                                 }\r
1259                         }\r
1260                         #endif\r
1261 \r
1262                         #if ( INCLUDE_vTaskSuspend == 1 )\r
1263                         {\r
1264                                 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )\r
1265                                 {\r
1266                                         prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, ulTotalRunTime );\r
1267                                 }\r
1268                         }\r
1269                         #endif\r
1270                 }\r
1271         xTaskResumeAll();\r
1272         }\r
1273 \r
1274 #endif\r
1275 /*----------------------------------------------------------*/\r
1276 \r
1277 #if ( configUSE_TRACE_FACILITY == 1 )\r
1278 \r
1279         void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize )\r
1280         {\r
1281                 portENTER_CRITICAL();\r
1282                 {\r
1283                         pcTraceBuffer = ( signed portCHAR * )pcBuffer;\r
1284                         pcTraceBufferStart = pcBuffer;\r
1285                         pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );\r
1286                         xTracing = pdTRUE;\r
1287                 }\r
1288                 portEXIT_CRITICAL();\r
1289         }\r
1290 \r
1291 #endif\r
1292 /*----------------------------------------------------------*/\r
1293 \r
1294 #if ( configUSE_TRACE_FACILITY == 1 )\r
1295 \r
1296         unsigned portLONG ulTaskEndTrace( void )\r
1297         {\r
1298         unsigned portLONG ulBufferLength;\r
1299 \r
1300                 portENTER_CRITICAL();\r
1301                         xTracing = pdFALSE;\r
1302                 portEXIT_CRITICAL();\r
1303 \r
1304                 ulBufferLength = ( unsigned portLONG ) ( pcTraceBuffer - pcTraceBufferStart );\r
1305 \r
1306                 return ulBufferLength;\r
1307         }\r
1308 \r
1309 #endif\r
1310 \r
1311 \r
1312 \r
1313 /*-----------------------------------------------------------\r
1314  * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES\r
1315  * documented in task.h\r
1316  *----------------------------------------------------------*/\r
1317 \r
1318 \r
1319 void vTaskIncrementTick( void )\r
1320 {\r
1321         /* Called by the portable layer each time a tick interrupt occurs.\r
1322         Increments the tick then checks to see if the new tick value will cause any\r
1323         tasks to be unblocked. */\r
1324         if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
1325         {\r
1326                 ++xTickCount;\r
1327                 if( xTickCount == ( portTickType ) 0 )\r
1328                 {\r
1329                         xList *pxTemp;\r
1330 \r
1331                         /* Tick count has overflowed so we need to swap the delay lists.\r
1332                         If there are any items in pxDelayedTaskList here then there is\r
1333                         an error! */\r
1334                         pxTemp = pxDelayedTaskList;\r
1335                         pxDelayedTaskList = pxOverflowDelayedTaskList;\r
1336                         pxOverflowDelayedTaskList = pxTemp;\r
1337             xNumOfOverflows++;\r
1338                 }\r
1339 \r
1340                 /* See if this tick has made a timeout expire. */\r
1341                 prvCheckDelayedTasks();\r
1342         }\r
1343         else\r
1344         {\r
1345                 ++uxMissedTicks;\r
1346 \r
1347                 /* The tick hook gets called at regular intervals, even if the\r
1348                 scheduler is locked. */\r
1349                 #if ( configUSE_TICK_HOOK == 1 )\r
1350                 {\r
1351                         extern void vApplicationTickHook( void );\r
1352 \r
1353                         vApplicationTickHook();\r
1354                 }\r
1355                 #endif\r
1356         }\r
1357 \r
1358         #if ( configUSE_TICK_HOOK == 1 )\r
1359         {\r
1360                 extern void vApplicationTickHook( void );\r
1361 \r
1362                 /* Guard against the tick hook being called when the missed tick\r
1363                 count is being unwound (when the scheduler is being unlocked. */\r
1364                 if( uxMissedTicks == 0 )\r
1365                 {\r
1366                         vApplicationTickHook();\r
1367                 }\r
1368         }\r
1369         #endif\r
1370 \r
1371         traceTASK_INCREMENT_TICK( xTickCount );\r
1372 }\r
1373 /*-----------------------------------------------------------*/\r
1374 \r
1375 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )\r
1376 \r
1377         void vTaskCleanUpResources( void )\r
1378         {\r
1379         unsigned portSHORT usQueue;\r
1380         volatile tskTCB *pxTCB;\r
1381 \r
1382                 usQueue = ( unsigned portSHORT ) uxTopUsedPriority + ( unsigned portSHORT ) 1;\r
1383 \r
1384                 /* Remove any TCB's from the ready queues. */\r
1385                 do\r
1386                 {\r
1387                         usQueue--;\r
1388 \r
1389                         while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )\r
1390                         {\r
1391                                 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );\r
1392                                 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );\r
1393 \r
1394                                 prvDeleteTCB( ( tskTCB * ) pxTCB );\r
1395                         }\r
1396                 }while( usQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );\r
1397 \r
1398                 /* Remove any TCB's from the delayed queue. */\r
1399                 while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )\r
1400                 {\r
1401                         listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );\r
1402                         vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );\r
1403 \r
1404                         prvDeleteTCB( ( tskTCB * ) pxTCB );\r
1405                 }\r
1406 \r
1407                 /* Remove any TCB's from the overflow delayed queue. */\r
1408                 while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )\r
1409                 {\r
1410                         listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );\r
1411                         vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );\r
1412 \r
1413                         prvDeleteTCB( ( tskTCB * ) pxTCB );\r
1414                 }\r
1415 \r
1416                 while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )\r
1417                 {\r
1418                         listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );\r
1419                         vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );\r
1420 \r
1421                         prvDeleteTCB( ( tskTCB * ) pxTCB );\r
1422                 }               \r
1423         }\r
1424 \r
1425 #endif\r
1426 /*-----------------------------------------------------------*/\r
1427 \r
1428 #if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
1429 \r
1430         void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue )\r
1431         {\r
1432         tskTCB *xTCB;\r
1433 \r
1434                 /* If xTask is NULL then we are setting our own task hook. */\r
1435                 if( xTask == NULL )\r
1436                 {\r
1437                         xTCB = ( tskTCB * ) pxCurrentTCB;\r
1438                 }\r
1439                 else\r
1440                 {\r
1441                         xTCB = ( tskTCB * ) xTask;\r
1442                 }\r
1443                 \r
1444                 /* Save the hook function in the TCB.  A critical section is required as\r
1445                 the value can be accessed from an interrupt. */\r
1446                 portENTER_CRITICAL();\r
1447                         xTCB->pxTaskTag = pxTagValue;\r
1448                 portEXIT_CRITICAL();\r
1449         }\r
1450         \r
1451 #endif\r
1452 /*-----------------------------------------------------------*/\r
1453 \r
1454 #if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
1455 \r
1456         portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )\r
1457         {\r
1458         tskTCB *xTCB;\r
1459         portBASE_TYPE xReturn;\r
1460 \r
1461                 /* If xTask is NULL then we are calling our own task hook. */\r
1462                 if( xTask == NULL )\r
1463                 {\r
1464                         xTCB = ( tskTCB * ) pxCurrentTCB;\r
1465                 }\r
1466                 else\r
1467                 {\r
1468                         xTCB = ( tskTCB * ) xTask;\r
1469                 }\r
1470 \r
1471                 if( xTCB->pxTaskTag != NULL )\r
1472                 {\r
1473                         xReturn = xTCB->pxTaskTag( pvParameter );\r
1474                 }\r
1475                 else\r
1476                 {\r
1477                         xReturn = pdFAIL;\r
1478                 }\r
1479 \r
1480                 return xReturn;\r
1481         }\r
1482         \r
1483 #endif\r
1484 /*-----------------------------------------------------------*/\r
1485 \r
1486 void vTaskSwitchContext( void )\r
1487 {\r
1488         traceTASK_SWITCHED_OUT();\r
1489 \r
1490         #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
1491         {\r
1492                 unsigned portLONG ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();\r
1493 \r
1494                         /* Add the amount of time the task has been running to the accumulated\r
1495                         time so far.  The time the task started running was stored in \r
1496                         ulTaskSwitchedInTime.  Note that there is no overflow protection here\r
1497                         so count values are only valid until the timer overflows.  Generally\r
1498                         this will be about 1 hour assuming a 1uS timer increment. */\r
1499                         pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );\r
1500                         ulTaskSwitchedInTime = ulTempCounter;\r
1501         }\r
1502         #endif\r
1503 \r
1504 \r
1505         if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )\r
1506         {\r
1507                 /* The scheduler is currently suspended - do not allow a context\r
1508                 switch. */\r
1509                 xMissedYield = pdTRUE;\r
1510                 return;\r
1511         }\r
1512 \r
1513         taskFIRST_CHECK_FOR_STACK_OVERFLOW();\r
1514         taskSECOND_CHECK_FOR_STACK_OVERFLOW();\r
1515 \r
1516         /* Find the highest priority queue that contains ready tasks. */\r
1517         while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )\r
1518         {\r
1519                 --uxTopReadyPriority;\r
1520         }\r
1521 \r
1522         /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the\r
1523         same priority get an equal share of the processor time. */\r
1524         listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );\r
1525 \r
1526         traceTASK_SWITCHED_IN();\r
1527         vWriteTraceToBuffer();\r
1528 }\r
1529 /*-----------------------------------------------------------*/\r
1530 \r
1531 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )\r
1532 {\r
1533 portTickType xTimeToWake;\r
1534 \r
1535         /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE\r
1536         SCHEDULER SUSPENDED. */\r
1537 \r
1538         /* Place the event list item of the TCB in the appropriate event list.\r
1539         This is placed in the list in priority order so the highest priority task\r
1540         is the first to be woken by the event. */\r
1541         vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );\r
1542 \r
1543         /* We must remove ourselves from the ready list before adding ourselves\r
1544         to the blocked list as the same list item is used for both lists.  We have\r
1545         exclusive access to the ready lists as the scheduler is locked. */\r
1546         vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
1547 \r
1548 \r
1549         #if ( INCLUDE_vTaskSuspend == 1 )\r
1550         {                       \r
1551                 if( xTicksToWait == portMAX_DELAY )\r
1552                 {\r
1553                         /* Add ourselves to the suspended task list instead of a delayed task\r
1554                         list to ensure we are not woken by a timing event.  We will block\r
1555                         indefinitely. */\r
1556                         vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
1557                 }\r
1558                 else\r
1559                 {\r
1560                         /* Calculate the time at which the task should be woken if the event does\r
1561                         not occur.  This may overflow but this doesn't matter. */\r
1562                         xTimeToWake = xTickCount + xTicksToWait;\r
1563                 \r
1564                         listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );\r
1565                 \r
1566                         if( xTimeToWake < xTickCount )\r
1567                         {\r
1568                                 /* Wake time has overflowed.  Place this item in the overflow list. */\r
1569                                 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
1570                         }\r
1571                         else\r
1572                         {\r
1573                                 /* The wake time has not overflowed, so we can use the current block list. */\r
1574                                 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
1575                         }\r
1576                 }\r
1577         }\r
1578         #else\r
1579         {\r
1580                         /* Calculate the time at which the task should be woken if the event does\r
1581                         not occur.  This may overflow but this doesn't matter. */\r
1582                         xTimeToWake = xTickCount + xTicksToWait;\r
1583                 \r
1584                         listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );\r
1585                 \r
1586                         if( xTimeToWake < xTickCount )\r
1587                         {\r
1588                                 /* Wake time has overflowed.  Place this item in the overflow list. */\r
1589                                 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
1590                         }\r
1591                         else\r
1592                         {\r
1593                                 /* The wake time has not overflowed, so we can use the current block list. */\r
1594                                 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
1595                         }\r
1596         }\r
1597         #endif\r
1598 }\r
1599 /*-----------------------------------------------------------*/\r
1600 \r
1601 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )\r
1602 {\r
1603 tskTCB *pxUnblockedTCB;\r
1604 portBASE_TYPE xReturn;\r
1605 \r
1606         /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE\r
1607         SCHEDULER SUSPENDED.  It can also be called from within an ISR. */\r
1608 \r
1609         /* The event list is sorted in priority order, so we can remove the\r
1610         first in the list, remove the TCB from the delayed list, and add\r
1611         it to the ready list.\r
1612         \r
1613         If an event is for a queue that is locked then this function will never\r
1614         get called - the lock count on the queue will get modified instead.  This\r
1615         means we can always expect exclusive access to the event list here. */\r
1616         pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );\r
1617         vListRemove( &( pxUnblockedTCB->xEventListItem ) );\r
1618 \r
1619         if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
1620         {\r
1621                 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );\r
1622                 prvAddTaskToReadyQueue( pxUnblockedTCB );\r
1623         }\r
1624         else\r
1625         {\r
1626                 /* We cannot access the delayed or ready lists, so will hold this\r
1627                 task pending until the scheduler is resumed. */\r
1628                 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );\r
1629         }\r
1630 \r
1631         if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
1632         {\r
1633                 /* Return true if the task removed from the event list has\r
1634                 a higher priority than the calling task.  This allows\r
1635                 the calling task to know if it should force a context\r
1636                 switch now. */\r
1637                 xReturn = pdTRUE;\r
1638         }\r
1639         else\r
1640         {\r
1641                 xReturn = pdFALSE;\r
1642         }\r
1643 \r
1644         return xReturn;\r
1645 }\r
1646 /*-----------------------------------------------------------*/\r
1647 \r
1648 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )\r
1649 {\r
1650     pxTimeOut->xOverflowCount = xNumOfOverflows;\r
1651     pxTimeOut->xTimeOnEntering = xTickCount;\r
1652 }\r
1653 /*-----------------------------------------------------------*/\r
1654 \r
1655 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )\r
1656 {\r
1657 portBASE_TYPE xReturn;\r
1658 \r
1659         portENTER_CRITICAL();\r
1660         {\r
1661                 #if ( INCLUDE_vTaskSuspend == 1 )\r
1662                         /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is\r
1663                         the maximum block time then the task should block indefinitely, and\r
1664                         therefore never time out. */\r
1665                         if( *pxTicksToWait == portMAX_DELAY )\r
1666                         {\r
1667                                 xReturn = pdFALSE;\r
1668                         }\r
1669                         else /* We are not blocking indefinitely, perform the checks below. */\r
1670                 #endif\r
1671 \r
1672                 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xTickCount >= pxTimeOut->xTimeOnEntering ) )\r
1673                 {\r
1674                         /* The tick count is greater than the time at which vTaskSetTimeout()\r
1675                         was called, but has also overflowed since vTaskSetTimeOut() was called.\r
1676                         It must have wrapped all the way around and gone past us again. This\r
1677                         passed since vTaskSetTimeout() was called. */\r
1678                         xReturn = pdTRUE;\r
1679                 }\r
1680                 else if( ( xTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )\r
1681                 {\r
1682                         /* Not a genuine timeout. Adjust parameters for time remaining. */\r
1683                         *pxTicksToWait -= ( xTickCount - pxTimeOut->xTimeOnEntering );\r
1684                         vTaskSetTimeOutState( pxTimeOut );\r
1685                         xReturn = pdFALSE;\r
1686                 }\r
1687                 else\r
1688                 {\r
1689                         xReturn = pdTRUE;\r
1690                 }\r
1691         }\r
1692         portEXIT_CRITICAL();\r
1693 \r
1694     return xReturn;\r
1695 }\r
1696 /*-----------------------------------------------------------*/\r
1697 \r
1698 void vTaskMissedYield( void )\r
1699 {\r
1700         xMissedYield = pdTRUE;\r
1701 }\r
1702 \r
1703 /*\r
1704  * -----------------------------------------------------------\r
1705  * The Idle task.\r
1706  * ----------------------------------------------------------\r
1707  *\r
1708  * The portTASK_FUNCTION() macro is used to allow port/compiler specific\r
1709  * language extensions.  The equivalent prototype for this function is:\r
1710  *\r
1711  * void prvIdleTask( void *pvParameters );\r
1712  *\r
1713  */\r
1714 static portTASK_FUNCTION( prvIdleTask, pvParameters )\r
1715 {\r
1716         /* Stop warnings. */\r
1717         ( void ) pvParameters;\r
1718 \r
1719         for( ;; )\r
1720         {\r
1721                 /* See if any tasks have been deleted. */\r
1722                 prvCheckTasksWaitingTermination();\r
1723 \r
1724                 #if ( configUSE_PREEMPTION == 0 )\r
1725                 {\r
1726                         /* If we are not using preemption we keep forcing a task switch to\r
1727                         see if any other task has become available.  If we are using\r
1728                         preemption we don't need to do this as any task becoming available\r
1729                         will automatically get the processor anyway. */\r
1730                         taskYIELD();    \r
1731                 }\r
1732                 #endif\r
1733 \r
1734                 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )\r
1735                 {\r
1736                         /* When using preemption tasks of equal priority will be\r
1737                         timesliced.  If a task that is sharing the idle priority is ready\r
1738                         to run then the idle task should yield before the end of the\r
1739                         timeslice.\r
1740                         \r
1741                         A critical region is not required here as we are just reading from\r
1742                         the list, and an occasional incorrect value will not matter.  If\r
1743                         the ready list at the idle priority contains more than one task\r
1744                         then a task other than the idle task is ready to execute. */\r
1745                         if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )\r
1746                         {\r
1747                                 taskYIELD();\r
1748                         }\r
1749                 }\r
1750                 #endif\r
1751 \r
1752                 #if ( configUSE_IDLE_HOOK == 1 )\r
1753                 {\r
1754                         extern void vApplicationIdleHook( void );\r
1755 \r
1756                         /* Call the user defined function from within the idle task.  This\r
1757                         allows the application designer to add background functionality\r
1758                         without the overhead of a separate task.\r
1759                         NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,\r
1760                         CALL A FUNCTION THAT MIGHT BLOCK. */\r
1761                         vApplicationIdleHook();\r
1762                 }\r
1763                 #endif\r
1764         }\r
1765 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */\r
1766 \r
1767 \r
1768 \r
1769 \r
1770 \r
1771 \r
1772 \r
1773 /*-----------------------------------------------------------\r
1774  * File private functions documented at the top of the file.\r
1775  *----------------------------------------------------------*/\r
1776 \r
1777 \r
1778 \r
1779 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority )\r
1780 {\r
1781         /* Store the function name in the TCB. */\r
1782         strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned portSHORT ) configMAX_TASK_NAME_LEN );\r
1783         pxTCB->pcTaskName[ ( unsigned portSHORT ) configMAX_TASK_NAME_LEN - ( unsigned portSHORT ) 1 ] = '\0';\r
1784 \r
1785         /* This is used as an array index so must ensure it's not too large. */\r
1786         if( uxPriority >= configMAX_PRIORITIES )\r
1787         {\r
1788                 uxPriority = configMAX_PRIORITIES - 1;\r
1789         }\r
1790 \r
1791         pxTCB->uxPriority = uxPriority;\r
1792         #if ( configUSE_MUTEXES == 1 )\r
1793         {\r
1794                 pxTCB->uxBasePriority = uxPriority;\r
1795         }\r
1796         #endif\r
1797 \r
1798         vListInitialiseItem( &( pxTCB->xGenericListItem ) );\r
1799         vListInitialiseItem( &( pxTCB->xEventListItem ) );\r
1800 \r
1801         /* Set the pxTCB as a link back from the xListItem.  This is so we can get\r
1802         back to the containing TCB from a generic item in a list. */\r
1803         listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );\r
1804 \r
1805         /* Event lists are always in priority order. */\r
1806         listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );\r
1807         listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );\r
1808 \r
1809         #if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
1810         {\r
1811                 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;\r
1812         }\r
1813         #endif\r
1814 \r
1815         #if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
1816         {\r
1817                 pxTCB->pxTaskTag = NULL;\r
1818         }\r
1819         #endif  \r
1820 \r
1821         #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
1822         {\r
1823                 pxTCB->ulRunTimeCounter = 0UL;\r
1824         }\r
1825         #endif\r
1826 }\r
1827 /*-----------------------------------------------------------*/\r
1828 \r
1829 static void prvInitialiseTaskLists( void )\r
1830 {\r
1831 unsigned portBASE_TYPE uxPriority;\r
1832 \r
1833         for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )\r
1834         {\r
1835                 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );\r
1836         }\r
1837 \r
1838         vListInitialise( ( xList * ) &xDelayedTaskList1 );\r
1839         vListInitialise( ( xList * ) &xDelayedTaskList2 );\r
1840         vListInitialise( ( xList * ) &xPendingReadyList );\r
1841 \r
1842         #if ( INCLUDE_vTaskDelete == 1 )\r
1843         {\r
1844                 vListInitialise( ( xList * ) &xTasksWaitingTermination );\r
1845         }\r
1846         #endif\r
1847 \r
1848         #if ( INCLUDE_vTaskSuspend == 1 )\r
1849         {\r
1850                 vListInitialise( ( xList * ) &xSuspendedTaskList );\r
1851         }\r
1852         #endif\r
1853 \r
1854         /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList\r
1855         using list2. */\r
1856         pxDelayedTaskList = &xDelayedTaskList1;\r
1857         pxOverflowDelayedTaskList = &xDelayedTaskList2;\r
1858 }\r
1859 /*-----------------------------------------------------------*/\r
1860 \r
1861 static void prvCheckTasksWaitingTermination( void )\r
1862 {                                                       \r
1863         #if ( INCLUDE_vTaskDelete == 1 )\r
1864         {                               \r
1865                 portBASE_TYPE xListIsEmpty;\r
1866 \r
1867                 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called\r
1868                 too often in the idle task. */\r
1869                 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )\r
1870                 {\r
1871                         vTaskSuspendAll();\r
1872                                 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );                          \r
1873                         xTaskResumeAll();\r
1874 \r
1875                         if( !xListIsEmpty )\r
1876                         {\r
1877                                 tskTCB *pxTCB;\r
1878 \r
1879                                 portENTER_CRITICAL();\r
1880                                 {                       \r
1881                                         pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );\r
1882                                         vListRemove( &( pxTCB->xGenericListItem ) );\r
1883                                         --uxCurrentNumberOfTasks;\r
1884                                         --uxTasksDeleted;\r
1885                                 }\r
1886                                 portEXIT_CRITICAL();\r
1887 \r
1888                                 prvDeleteTCB( pxTCB );\r
1889                         }\r
1890                 }\r
1891         }\r
1892         #endif\r
1893 }\r
1894 /*-----------------------------------------------------------*/\r
1895 \r
1896 static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth )\r
1897 {\r
1898 tskTCB *pxNewTCB;\r
1899 \r
1900         /* Allocate space for the TCB.  Where the memory comes from depends on\r
1901         the implementation of the port malloc function. */\r
1902         pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );\r
1903 \r
1904         if( pxNewTCB != NULL )\r
1905         {\r
1906                 /* Allocate space for the stack used by the task being created.\r
1907                 The base of the stack memory stored in the TCB so the task can\r
1908                 be deleted later if required. */\r
1909                 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMalloc( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) );\r
1910 \r
1911                 if( pxNewTCB->pxStack == NULL )\r
1912                 {\r
1913                         /* Could not allocate the stack.  Delete the allocated TCB. */\r
1914                         vPortFree( pxNewTCB );                  \r
1915                         pxNewTCB = NULL;                        \r
1916                 }               \r
1917                 else\r
1918                 {\r
1919                         /* Just to help debugging. */\r
1920                         memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );\r
1921                 }\r
1922         }\r
1923 \r
1924         return pxNewTCB;\r
1925 }\r
1926 /*-----------------------------------------------------------*/\r
1927 \r
1928 #if ( configUSE_TRACE_FACILITY == 1 )\r
1929 \r
1930         static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus )\r
1931         {\r
1932         volatile tskTCB *pxNextTCB, *pxFirstTCB;\r
1933         unsigned portSHORT usStackRemaining;\r
1934 \r
1935                 /* Write the details of all the TCB's in pxList into the buffer. */\r
1936                 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );\r
1937                 do\r
1938                 {\r
1939                         listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );\r
1940                         usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned portCHAR * ) pxNextTCB->pxStack );\r
1941                         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
1942                         strcat( ( portCHAR * ) pcWriteBuffer, ( portCHAR * ) pcStatusString );\r
1943 \r
1944                 } while( pxNextTCB != pxFirstTCB );\r
1945         }\r
1946 \r
1947 #endif\r
1948 /*-----------------------------------------------------------*/\r
1949 \r
1950 #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
1951 \r
1952         static void prvGenerateRunTimeStatsForTasksInList( const signed portCHAR *pcWriteBuffer, xList *pxList, unsigned portLONG ulTotalRunTime )\r
1953         {\r
1954         volatile tskTCB *pxNextTCB, *pxFirstTCB;\r
1955         unsigned portLONG ulStatsAsPercentage;\r
1956 \r
1957                 /* Write the run time stats of all the TCB's in pxList into the buffer. */\r
1958                 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );\r
1959                 do\r
1960                 {\r
1961                         listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );\r
1962 \r
1963                         ulStatsAsPercentage = ( 100UL * pxNextTCB->ulRunTimeCounter ) / ulTotalRunTime;\r
1964 \r
1965                         if( ulStatsAsPercentage > 0UL )\r
1966                         {\r
1967                                 sprintf( pcStatsString, ( portCHAR * ) "%s\t\t\t%lu\t\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );\r
1968                         }\r
1969                         else\r
1970                         {\r
1971                                 sprintf( pcStatsString, ( portCHAR * ) "%s\t\t\t%lu\t\t\t< 1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );\r
1972                         }\r
1973 \r
1974                         strcat( ( portCHAR * ) pcWriteBuffer, ( portCHAR * ) pcStatsString );\r
1975 \r
1976                 } while( pxNextTCB != pxFirstTCB );\r
1977         }\r
1978 \r
1979 #endif\r
1980 /*-----------------------------------------------------------*/\r
1981 \r
1982 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )\r
1983 \r
1984         unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte )\r
1985         {\r
1986         register unsigned portSHORT usCount = 0;\r
1987 \r
1988                 while( *pucStackByte == tskSTACK_FILL_BYTE )\r
1989                 {\r
1990                         pucStackByte -= portSTACK_GROWTH;\r
1991                         usCount++;\r
1992                 }\r
1993 \r
1994                 usCount /= sizeof( portSTACK_TYPE );\r
1995 \r
1996                 return usCount;\r
1997         }\r
1998 \r
1999 #endif\r
2000 /*-----------------------------------------------------------*/\r
2001 \r
2002 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )\r
2003 \r
2004         unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )\r
2005         {\r
2006         tskTCB *pxTCB;\r
2007         unsigned portCHAR *pcEndOfStack;\r
2008 \r
2009                 pxTCB = prvGetTCBFromHandle( xTask );\r
2010 \r
2011                 #if portSTACK_GROWTH < 0\r
2012                 {\r
2013                         pcEndOfStack = ( unsigned portCHAR * ) pxTCB->pxStack;\r
2014                 }\r
2015                 #else\r
2016                 {\r
2017                         pcEndOfStack = ( unsigned portCHAR * ) pxTCB->pxEndOfStack;\r
2018                 }\r
2019                 #endif\r
2020 \r
2021                 return usTaskCheckFreeStackSpace( pcEndOfStack );\r
2022         }\r
2023 \r
2024 #endif\r
2025 /*-----------------------------------------------------------*/\r
2026 \r
2027 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )\r
2028 \r
2029         static void prvDeleteTCB( tskTCB *pxTCB )\r
2030         {\r
2031                 /* Free up the memory allocated by the scheduler for the task.  It is up to\r
2032                 the task to free any memory allocated at the application level. */\r
2033                 vPortFree( pxTCB->pxStack );\r
2034                 vPortFree( pxTCB );\r
2035         }\r
2036 \r
2037 #endif\r
2038 \r
2039 \r
2040 /*-----------------------------------------------------------*/\r
2041 \r
2042 #if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )\r
2043 \r
2044         xTaskHandle xTaskGetCurrentTaskHandle( void )\r
2045         {\r
2046                 /* A critical section is not required as this is not called from\r
2047                 an interrupt and the current TCB will always be the same for any\r
2048                 individual execution thread. */\r
2049                 return pxCurrentTCB;\r
2050         }\r
2051 \r
2052 #endif\r
2053 \r
2054 /*-----------------------------------------------------------*/\r
2055 \r
2056 #if ( INCLUDE_xTaskGetSchedulerState == 1 )\r
2057 \r
2058         portBASE_TYPE xTaskGetSchedulerState( void )\r
2059         {\r
2060         portBASE_TYPE xReturn;\r
2061         \r
2062                 if( xSchedulerRunning == pdFALSE )\r
2063                 {\r
2064                         xReturn = taskSCHEDULER_NOT_STARTED;\r
2065                 }\r
2066                 else\r
2067                 {\r
2068                         if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
2069                         {\r
2070                                 xReturn = taskSCHEDULER_RUNNING;\r
2071                         }\r
2072                         else\r
2073                         {\r
2074                                 xReturn = taskSCHEDULER_SUSPENDED;\r
2075                         }\r
2076                 }\r
2077                 \r
2078                 return xReturn;\r
2079         }\r
2080 \r
2081 #endif\r
2082 /*-----------------------------------------------------------*/\r
2083 \r
2084 #if ( configUSE_MUTEXES == 1 )\r
2085         \r
2086         void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )\r
2087         {\r
2088         tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;\r
2089 \r
2090                 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )\r
2091                 {\r
2092                         /* Adjust the mutex holder state to account for its new priority. */\r
2093                         listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );\r
2094 \r
2095                         /* If the task being modified is in the ready state it will need to\r
2096                         be moved in to a new list. */\r
2097                         if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )\r
2098                         {\r
2099                                 vListRemove( &( pxTCB->xGenericListItem ) );\r
2100 \r
2101                                 /* Inherit the priority before being moved into the new list. */\r
2102                                 pxTCB->uxPriority = pxCurrentTCB->uxPriority;\r
2103                                 prvAddTaskToReadyQueue( pxTCB );\r
2104                         }\r
2105                         else\r
2106                         {\r
2107                                 /* Just inherit the priority. */\r
2108                                 pxTCB->uxPriority = pxCurrentTCB->uxPriority;\r
2109                         }\r
2110                 }\r
2111         }\r
2112 \r
2113 #endif\r
2114 /*-----------------------------------------------------------*/\r
2115 \r
2116 #if ( configUSE_MUTEXES == 1 )  \r
2117 \r
2118         void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )\r
2119         {\r
2120         tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;\r
2121 \r
2122                 if( pxMutexHolder != NULL )\r
2123                 {\r
2124                         if( pxTCB->uxPriority != pxTCB->uxBasePriority )\r
2125                         {\r
2126                                 /* We must be the running task to be able to give the mutex back.\r
2127                                 Remove ourselves from the ready list we currently appear in. */\r
2128                                 vListRemove( &( pxTCB->xGenericListItem ) );\r
2129 \r
2130                                 /* Disinherit the priority before adding ourselves into the new\r
2131                                 ready list. */\r
2132                                 pxTCB->uxPriority = pxTCB->uxBasePriority;\r
2133                                 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );\r
2134                                 prvAddTaskToReadyQueue( pxTCB );\r
2135                         }\r
2136                 }\r
2137         }\r
2138 \r
2139 #endif\r
2140 /*-----------------------------------------------------------*/\r
2141 \r
2142 #if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
2143 \r
2144         void vTaskEnterCritical( void )\r
2145         {\r
2146                 portDISABLE_INTERRUPTS();\r
2147 \r
2148                 if( xSchedulerRunning != pdFALSE )\r
2149                 {\r
2150                         pxCurrentTCB->uxCriticalNesting++;\r
2151                 }\r
2152         }\r
2153 \r
2154 #endif\r
2155 /*-----------------------------------------------------------*/\r
2156 \r
2157 #if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
2158 \r
2159 void vTaskExitCritical( void )\r
2160 {\r
2161         if( xSchedulerRunning != pdFALSE )\r
2162         {\r
2163                 if( pxCurrentTCB->uxCriticalNesting > 0 )\r
2164                 {\r
2165                         pxCurrentTCB->uxCriticalNesting--;\r
2166 \r
2167                         if( pxCurrentTCB->uxCriticalNesting == 0 )\r
2168                         {\r
2169                                 portENABLE_INTERRUPTS();\r
2170                         }\r
2171                 }\r
2172         }\r
2173 }\r
2174 \r
2175 #endif\r
2176 /*-----------------------------------------------------------*/\r
2177 \r
2178 \r
2179         \r
2180 \r