]> git.sur5r.net Git - freertos/blob - Source/tasks.c
Add some tick interrupt overflow protection to the timers module. This is not tested...
[freertos] / Source / tasks.c
1 /*\r
2     FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.\r
3 \r
4     ***************************************************************************\r
5     *                                                                         *\r
6     * If you are:                                                             *\r
7     *                                                                         *\r
8     *    + New to FreeRTOS,                                                   *\r
9     *    + Wanting to learn FreeRTOS or multitasking in general quickly       *\r
10     *    + Looking for basic training,                                        *\r
11     *    + Wanting to improve your FreeRTOS skills and productivity           *\r
12     *                                                                         *\r
13     * then take a look at the FreeRTOS books - available as PDF or paperback  *\r
14     *                                                                         *\r
15     *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *\r
16     *                  http://www.FreeRTOS.org/Documentation                  *\r
17     *                                                                         *\r
18     * A pdf reference manual is also available.  Both are usually delivered   *\r
19     * to your inbox within 20 minutes to two hours when purchased between 8am *\r
20     * and 8pm GMT (although please allow up to 24 hours in case of            *\r
21     * exceptional circumstances).  Thank you for your support!                *\r
22     *                                                                         *\r
23     ***************************************************************************\r
24 \r
25     This file is part of the FreeRTOS distribution.\r
26 \r
27     FreeRTOS is free software; you can redistribute it and/or modify it under\r
28     the terms of the GNU General Public License (version 2) as published by the\r
29     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.\r
30     ***NOTE*** The exception to the GPL is included to allow you to distribute\r
31     a combined work that includes FreeRTOS without being obliged to provide the\r
32     source code for proprietary components outside of the FreeRTOS kernel.\r
33     FreeRTOS is distributed in the hope that it will be useful, but WITHOUT\r
34     ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or\r
35     FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for\r
36     more details. You should have received a copy of the GNU General Public\r
37     License and the FreeRTOS license exception along with FreeRTOS; if not it\r
38     can be viewed here: http://www.freertos.org/a00114.html and also obtained\r
39     by writing to Richard Barry, contact details for whom are available on the\r
40     FreeRTOS WEB site.\r
41 \r
42     1 tab == 4 spaces!\r
43 \r
44     http://www.FreeRTOS.org - Documentation, latest information, license and\r
45     contact details.\r
46 \r
47     http://www.SafeRTOS.com - A version that is certified for use in safety\r
48     critical systems.\r
49 \r
50     http://www.OpenRTOS.com - Commercial support, development, porting,\r
51     licensing and training services.\r
52 */\r
53 \r
54 \r
55 #include <stdio.h>\r
56 #include <stdlib.h>\r
57 #include <string.h>\r
58 \r
59 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining\r
60 all the API functions to use the MPU wrappers.  That should only be done when\r
61 task.h is included from an application file. */\r
62 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE\r
63 \r
64 #include "FreeRTOS.h"\r
65 #include "task.h"\r
66 #include "timers.h"\r
67 #include "StackMacros.h"\r
68 \r
69 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE\r
70 \r
71 /*\r
72  * Macro to define the amount of stack available to the idle task.\r
73  */\r
74 #define tskIDLE_STACK_SIZE      configMINIMAL_STACK_SIZE\r
75 \r
76 /*\r
77  * Task control block.  A task control block (TCB) is allocated to each task,\r
78  * and stores the context of the task.\r
79  */\r
80 typedef struct tskTaskControlBlock\r
81 {\r
82         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
83 \r
84         #if ( portUSING_MPU_WRAPPERS == 1 )\r
85                 xMPU_SETTINGS xMPUSettings;                             /*< The MPU settings are defined as part of the port layer.  THIS MUST BE THE SECOND MEMBER OF THE STRUCT. */\r
86         #endif  \r
87         \r
88         xListItem                               xGenericListItem;       /*< List item used to place the TCB in ready and blocked queues. */\r
89         xListItem                               xEventListItem;         /*< List item used to place the TCB in event lists. */\r
90         unsigned portBASE_TYPE  uxPriority;                     /*< The priority of the task where 0 is the lowest priority. */\r
91         portSTACK_TYPE                  *pxStack;                       /*< Points to the start of the stack. */\r
92         signed char                             pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created.  Facilitates debugging only. */\r
93 \r
94         #if ( portSTACK_GROWTH > 0 )\r
95                 portSTACK_TYPE *pxEndOfStack;                   /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */\r
96         #endif\r
97 \r
98         #if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
99                 unsigned portBASE_TYPE uxCriticalNesting;\r
100         #endif\r
101 \r
102         #if ( configUSE_TRACE_FACILITY == 1 )\r
103                 unsigned portBASE_TYPE  uxTCBNumber;    /*< This is used for tracing the scheduler and making debugging easier only. */\r
104         #endif\r
105 \r
106         #if ( configUSE_MUTEXES == 1 )\r
107                 unsigned portBASE_TYPE uxBasePriority;  /*< The priority last assigned to the task - used by the priority inheritance mechanism. */\r
108         #endif\r
109 \r
110         #if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
111                 pdTASK_HOOK_CODE pxTaskTag;\r
112         #endif\r
113 \r
114         #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
115                 unsigned long ulRunTimeCounter;         /*< Used for calculating how much CPU time each task is utilising. */\r
116         #endif\r
117 \r
118 } tskTCB;\r
119 \r
120 \r
121 /*\r
122  * Some kernel aware debuggers require data to be viewed to be global, rather\r
123  * than file scope.\r
124  */\r
125 #ifdef portREMOVE_STATIC_QUALIFIER\r
126         #define static\r
127 #endif\r
128 \r
129 /*lint -e956 */\r
130 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;\r
131 \r
132 /* Lists for ready and blocked tasks. --------------------*/\r
133 \r
134 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */\r
135 PRIVILEGED_DATA static xList xDelayedTaskList1;                                                 /*< Delayed tasks. */\r
136 PRIVILEGED_DATA static xList xDelayedTaskList2;                                                 /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */\r
137 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ;                             /*< Points to the delayed task list currently being used. */\r
138 PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList;              /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */\r
139 PRIVILEGED_DATA static xList xPendingReadyList;                                                 /*< Tasks that have been readied while the scheduler was suspended.  They will be moved to the ready queue when the scheduler is resumed. */\r
140 \r
141 #if ( INCLUDE_vTaskDelete == 1 )\r
142 \r
143         PRIVILEGED_DATA static volatile xList xTasksWaitingTermination;         /*< Tasks that have been deleted - but the their memory not yet freed. */\r
144         PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;\r
145 \r
146 #endif\r
147 \r
148 #if ( INCLUDE_vTaskSuspend == 1 )\r
149 \r
150         PRIVILEGED_DATA static xList xSuspendedTaskList;                                        /*< Tasks that are currently suspended. */\r
151 \r
152 #endif\r
153 \r
154 /* File private variables. --------------------------------*/\r
155 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks   = ( unsigned portBASE_TYPE ) 0;\r
156 PRIVILEGED_DATA static volatile portTickType xTickCount                                                 = ( portTickType ) 0;\r
157 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority                                 = tskIDLE_PRIORITY;\r
158 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority               = tskIDLE_PRIORITY;\r
159 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning                  = pdFALSE;\r
160 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended             = ( unsigned portBASE_TYPE ) pdFALSE;\r
161 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks                    = ( unsigned portBASE_TYPE ) 0;\r
162 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield                                              = ( portBASE_TYPE ) pdFALSE;\r
163 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows                                   = ( portBASE_TYPE ) 0;\r
164 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber                                              = ( unsigned portBASE_TYPE ) 0;\r
165 PRIVILEGED_DATA static portTickType xNextTaskUnblockTime                                                = ( portTickType ) portMAX_DELAY;\r
166 \r
167 #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
168 \r
169         PRIVILEGED_DATA static char pcStatsString[ 50 ] ;\r
170         PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL;        /*< Holds the value of a timer/counter the last time a task was switched in. */\r
171         static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;\r
172 \r
173 #endif\r
174 \r
175 /* Debugging and trace facilities private variables and macros. ------------*/\r
176 \r
177 /*\r
178  * The value used to fill the stack of a task when the task is created.  This\r
179  * is used purely for checking the high water mark for tasks.\r
180  */\r
181 #define tskSTACK_FILL_BYTE      ( 0xa5U )\r
182 \r
183 /*\r
184  * Macros used by vListTask to indicate which state a task is in.\r
185  */\r
186 #define tskBLOCKED_CHAR         ( ( signed char ) 'B' )\r
187 #define tskREADY_CHAR           ( ( signed char ) 'R' )\r
188 #define tskDELETED_CHAR         ( ( signed char ) 'D' )\r
189 #define tskSUSPENDED_CHAR       ( ( signed char ) 'S' )\r
190 \r
191 /*\r
192  * Macros and private variables used by the trace facility.\r
193  */\r
194 #if ( configUSE_TRACE_FACILITY == 1 )\r
195 \r
196         #define tskSIZE_OF_EACH_TRACE_LINE                      ( ( unsigned long ) ( sizeof( unsigned long ) + sizeof( unsigned long ) ) )\r
197         PRIVILEGED_DATA static volatile signed char * volatile pcTraceBuffer;\r
198         PRIVILEGED_DATA static signed char *pcTraceBufferStart;\r
199         PRIVILEGED_DATA static signed char *pcTraceBufferEnd;\r
200         PRIVILEGED_DATA static signed portBASE_TYPE xTracing = pdFALSE;\r
201         static unsigned portBASE_TYPE uxPreviousTask = 255U;\r
202         PRIVILEGED_DATA static char pcStatusString[ 50 ];\r
203 \r
204 #endif\r
205 \r
206 /*-----------------------------------------------------------*/\r
207 \r
208 /*\r
209  * Macro that writes a trace of scheduler activity to a buffer.  This trace\r
210  * shows which task is running when and is very useful as a debugging tool.\r
211  * As this macro is called each context switch it is a good idea to undefine\r
212  * it if not using the facility.\r
213  */\r
214 #if ( configUSE_TRACE_FACILITY == 1 )\r
215 \r
216         #define vWriteTraceToBuffer()                                                                                                                                   \\r
217         {                                                                                                                                                                                               \\r
218                 if( xTracing )                                                                                                                                                          \\r
219                 {                                                                                                                                                                                       \\r
220                         if( uxPreviousTask != pxCurrentTCB->uxTCBNumber )                                                                               \\r
221                         {                                                                                                                                                                               \\r
222                                 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd )                         \\r
223                                 {                                                                                                                                                                       \\r
224                                         uxPreviousTask = pxCurrentTCB->uxTCBNumber;                                                                             \\r
225                                         *( unsigned long * ) pcTraceBuffer = ( unsigned long ) xTickCount;                              \\r
226                                         pcTraceBuffer += sizeof( unsigned long );                                                                               \\r
227                                         *( unsigned long * ) pcTraceBuffer = ( unsigned long ) uxPreviousTask;                  \\r
228                                         pcTraceBuffer += sizeof( unsigned long );                                                                               \\r
229                                 }                                                                                                                                                                       \\r
230                                 else                                                                                                                                                            \\r
231                                 {                                                                                                                                                                       \\r
232                                         xTracing = pdFALSE;                                                                                                                             \\r
233                                 }                                                                                                                                                                       \\r
234                         }                                                                                                                                                                               \\r
235                 }                                                                                                                                                                                       \\r
236         }\r
237 \r
238 #else\r
239 \r
240         #define vWriteTraceToBuffer()\r
241 \r
242 #endif\r
243 /*-----------------------------------------------------------*/\r
244 \r
245 /*\r
246  * Place the task represented by pxTCB into the appropriate ready queue for\r
247  * the task.  It is inserted at the end of the list.  One quirk of this is\r
248  * that if the task being inserted is at the same priority as the currently\r
249  * executing task, then it will only be rescheduled after the currently\r
250  * executing task has been rescheduled.\r
251  */\r
252 #define prvAddTaskToReadyQueue( pxTCB )                                                                                                                                                                 \\r
253         if( ( pxTCB )->uxPriority > uxTopReadyPriority )                                                                                                                                        \\r
254         {                                                                                                                                                                                                                                       \\r
255                 uxTopReadyPriority = ( pxTCB )->uxPriority;                                                                                                                                             \\r
256         }                                                                                                                                                                                                                                       \\r
257         vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )\r
258 /*-----------------------------------------------------------*/\r
259 \r
260 /*\r
261  * Macro that looks at the list of tasks that are currently delayed to see if\r
262  * any require waking.\r
263  *\r
264  * Tasks are stored in the queue in the order of their wake time - meaning\r
265  * once one tasks has been found whose timer has not expired we need not look\r
266  * any further down the list.\r
267  */\r
268 #define prvCheckDelayedTasks()                                                                                                                  \\r
269 {                                                                                                                                                                               \\r
270 register tskTCB *pxTCB;                                                                                                                                 \\r
271 portTickType xItemValue;                                                                                                                                \\r
272                                                                                                                                                                                 \\r
273         /* Is the tick count greater than or equal to the wake time of the first                        \\r
274         task referenced from the delayed tasks list? */                                                                         \\r
275         if( xTickCount >= xNextTaskUnblockTime )                                                                                        \\r
276         {                                                                                                                                                                       \\r
277                 for( ;; )                                                                                                                                               \\r
278                 {                                                                                                                                                               \\r
279                         if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )                                         \\r
280                         {                                                                                                                                                       \\r
281                                 /* The delayed list is empty.  Set xNextTaskUnblockTime to the                  \\r
282                                 maximum possible value so it is extremely unlikely that the                             \\r
283                                 if( xTickCount >= xNextTaskUnblockTime ) test will pass next                    \\r
284                                 time through. */                                                                                                                \\r
285                                 xNextTaskUnblockTime = portMAX_DELAY;                                                                   \\r
286                                 break;                                                                                                                                  \\r
287                         }                                                                                                                                                       \\r
288                         else                                                                                                                                            \\r
289                         {                                                                                                                                                       \\r
290                                 /* The delayed list is not empty, get the value of the item at                  \\r
291                                 the head of the delayed list.  This is the time at which the                    \\r
292                                 task at the head of the delayed list should be removed from                             \\r
293                                 the Blocked state. */                                                                                                   \\r
294                                 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );  \\r
295                                 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );   \\r
296                                                                                                                                                                                 \\r
297                                 if( xTickCount < xItemValue )                                                                                   \\r
298                                 {                                                                                                                                               \\r
299                                         /* It is not time to unblock this item yet, but the item                        \\r
300                                         value is the time at which the task at the head of the                          \\r
301                                         blocked list should be removed from the Blocked state -                         \\r
302                                         so record the item value in xNextTaskUnblockTime. */                            \\r
303                                         xNextTaskUnblockTime = xItemValue;                                                                      \\r
304                                         break;                                                                                                                          \\r
305                                 }                                                                                                                                               \\r
306                                                                                                                                                                                 \\r
307                                 /* It is time to remove the item from the Blocked state. */                             \\r
308                                 vListRemove( &( pxTCB->xGenericListItem ) );                                                    \\r
309                                                                                                                                                                                 \\r
310                                 /* Is the task waiting on an event also? */                                                             \\r
311                                 if( pxTCB->xEventListItem.pvContainer )                                                                 \\r
312                                 {                                                                                                                                               \\r
313                                         vListRemove( &( pxTCB->xEventListItem ) );                                                      \\r
314                                 }                                                                                                                                               \\r
315                                 prvAddTaskToReadyQueue( pxTCB );                                                                                \\r
316                         }                                                                                                                                                       \\r
317                 }                                                                                                                                                               \\r
318         }                                                                                                                                                                       \\r
319 }\r
320 /*-----------------------------------------------------------*/\r
321 \r
322 /*\r
323  * Several functions take an xTaskHandle parameter that can optionally be NULL,\r
324  * where NULL is used to indicate that the handle of the currently executing\r
325  * task should be used in place of the parameter.  This macro simply checks to\r
326  * see if the parameter is NULL and returns a pointer to the appropriate TCB.\r
327  */\r
328 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )\r
329 \r
330 /* Callback function prototypes. --------------------------*/\r
331 extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );\r
332                 \r
333 /* File private functions. --------------------------------*/\r
334 \r
335 /*\r
336  * Utility to ready a TCB for a given task.  Mainly just copies the parameters\r
337  * into the TCB structure.\r
338  */\r
339 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;\r
340 \r
341 /*\r
342  * Utility to ready all the lists used by the scheduler.  This is called\r
343  * automatically upon the creation of the first task.\r
344  */\r
345 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;\r
346 \r
347 /*\r
348  * The idle task, which as all tasks is implemented as a never ending loop.\r
349  * The idle task is automatically created and added to the ready lists upon\r
350  * creation of the first user task.\r
351  *\r
352  * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific\r
353  * language extensions.  The equivalent prototype for this function is:\r
354  *\r
355  * void prvIdleTask( void *pvParameters );\r
356  *\r
357  */\r
358 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );\r
359 \r
360 /*\r
361  * Utility to free all memory allocated by the scheduler to hold a TCB,\r
362  * including the stack pointed to by the TCB.\r
363  *\r
364  * This does not free memory allocated by the task itself (i.e. memory\r
365  * allocated by calls to pvPortMalloc from within the tasks application code).\r
366  */\r
367 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )\r
368 \r
369         static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;\r
370 \r
371 #endif\r
372 \r
373 /*\r
374  * Used only by the idle task.  This checks to see if anything has been placed\r
375  * in the list of tasks waiting to be deleted.  If so the task is cleaned up\r
376  * and its TCB deleted.\r
377  */\r
378 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;\r
379 \r
380 /*\r
381  * The currently executing task is entering the Blocked state.  Add the task to\r
382  * either the current or the overflow delayed task list.\r
383  */\r
384 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;\r
385 \r
386 /*\r
387  * Allocates memory from the heap for a TCB and associated stack.  Checks the\r
388  * allocation was successful.\r
389  */\r
390 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;\r
391 \r
392 /*\r
393  * Called from vTaskList.  vListTasks details all the tasks currently under\r
394  * control of the scheduler.  The tasks may be in one of a number of lists.\r
395  * prvListTaskWithinSingleList accepts a list and details the tasks from\r
396  * within just that list.\r
397  *\r
398  * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM\r
399  * NORMAL APPLICATION CODE.\r
400  */\r
401 #if ( configUSE_TRACE_FACILITY == 1 )\r
402 \r
403         static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;\r
404 \r
405 #endif\r
406 \r
407 /*\r
408  * When a task is created, the stack of the task is filled with a known value.\r
409  * This function determines the 'high water mark' of the task stack by\r
410  * determining how much of the stack remains at the original preset value.\r
411  */\r
412 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )\r
413 \r
414         static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;\r
415 \r
416 #endif\r
417 \r
418 \r
419 /*lint +e956 */\r
420 \r
421 \r
422 \r
423 /*-----------------------------------------------------------\r
424  * TASK CREATION API documented in task.h\r
425  *----------------------------------------------------------*/\r
426 \r
427 signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )\r
428 {\r
429 signed portBASE_TYPE xReturn;\r
430 tskTCB * pxNewTCB;\r
431 \r
432         /* Allocate the memory required by the TCB and stack for the new task,\r
433         checking that the allocation was successful. */\r
434         pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );\r
435 \r
436         if( pxNewTCB != NULL )\r
437         {\r
438                 portSTACK_TYPE *pxTopOfStack;\r
439 \r
440                 #if( portUSING_MPU_WRAPPERS == 1 )\r
441                         /* Should the task be created in privileged mode? */\r
442                         portBASE_TYPE xRunPrivileged;\r
443                         if( ( uxPriority & portPRIVILEGE_BIT ) != 0x00 )\r
444                         {\r
445                                 xRunPrivileged = pdTRUE;\r
446                         }\r
447                         else\r
448                         {\r
449                                 xRunPrivileged = pdFALSE;\r
450                         }\r
451                         uxPriority &= ~portPRIVILEGE_BIT;\r
452                 #endif /* portUSING_MPU_WRAPPERS == 1 */\r
453 \r
454                 /* Calculate the top of stack address.  This depends on whether the\r
455                 stack grows from high memory to low (as per the 80x86) or visa versa.\r
456                 portSTACK_GROWTH is used to make the result positive or negative as\r
457                 required by the port. */\r
458                 #if( portSTACK_GROWTH < 0 )\r
459                 {\r
460                         pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );\r
461                         pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( unsigned long ) pxTopOfStack ) & ( ( unsigned long ) ~portBYTE_ALIGNMENT_MASK  ) );\r
462                 }\r
463                 #else\r
464                 {\r
465                         pxTopOfStack = pxNewTCB->pxStack;\r
466 \r
467                         /* If we want to use stack checking on architectures that use\r
468                         a positive stack growth direction then we also need to store the\r
469                         other extreme of the stack space. */\r
470                         pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );\r
471                 }\r
472                 #endif\r
473 \r
474                 /* Setup the newly allocated TCB with the initial state of the task. */\r
475                 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );\r
476 \r
477                 /* Initialize the TCB stack to look as if the task was already running,\r
478                 but had been interrupted by the scheduler.  The return address is set\r
479                 to the start of the task function. Once the stack has been initialised\r
480                 the     top of stack variable is updated. */\r
481                 #if( portUSING_MPU_WRAPPERS == 1 )\r
482                 {\r
483                         pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );\r
484                 }\r
485                 #else\r
486                 {\r
487                         pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );\r
488                 }\r
489                 #endif\r
490 \r
491                 if( ( void * ) pxCreatedTask != NULL )\r
492                 {\r
493                         /* Pass the TCB out - in an anonymous way.  The calling function/\r
494                         task can use this as a handle to delete the task later if\r
495                         required.*/\r
496                         *pxCreatedTask = ( xTaskHandle ) pxNewTCB;\r
497                 }\r
498                 \r
499                 /* We are going to manipulate the task queues to add this task to a\r
500                 ready list, so must make sure no interrupts occur. */\r
501                 taskENTER_CRITICAL();\r
502                 {\r
503                         uxCurrentNumberOfTasks++;\r
504                         if( pxCurrentTCB == NULL )\r
505                         {\r
506                                 /* There are no other tasks, or all the other tasks are in\r
507                                 the suspended state - make this the current task. */\r
508                                 pxCurrentTCB =  pxNewTCB;\r
509 \r
510                                 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )\r
511                                 {\r
512                                         /* This is the first task to be created so do the preliminary\r
513                                         initialisation required.  We will not recover if this call\r
514                                         fails, but we will report the failure. */\r
515                                         prvInitialiseTaskLists();\r
516                                 }\r
517                         }\r
518                         else\r
519                         {\r
520                                 /* If the scheduler is not already running, make this task the\r
521                                 current task if it is the highest priority task to be created\r
522                                 so far. */\r
523                                 if( xSchedulerRunning == pdFALSE )\r
524                                 {\r
525                                         if( pxCurrentTCB->uxPriority <= uxPriority )\r
526                                         {\r
527                                                 pxCurrentTCB = pxNewTCB;\r
528                                         }\r
529                                 }\r
530                         }\r
531 \r
532                         /* Remember the top priority to make context switching faster.  Use\r
533                         the priority in pxNewTCB as this has been capped to a valid value. */\r
534                         if( pxNewTCB->uxPriority > uxTopUsedPriority )\r
535                         {\r
536                                 uxTopUsedPriority = pxNewTCB->uxPriority;\r
537                         }\r
538 \r
539                         #if ( configUSE_TRACE_FACILITY == 1 )\r
540                         {\r
541                                 /* Add a counter into the TCB for tracing only. */\r
542                                 pxNewTCB->uxTCBNumber = uxTaskNumber;\r
543                         }\r
544                         #endif\r
545                         uxTaskNumber++;\r
546 \r
547                         prvAddTaskToReadyQueue( pxNewTCB );\r
548 \r
549                         xReturn = pdPASS;\r
550                         traceTASK_CREATE( pxNewTCB );\r
551                 }\r
552                 taskEXIT_CRITICAL();\r
553         }\r
554         else\r
555         {\r
556                 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;\r
557                 traceTASK_CREATE_FAILED();\r
558         }\r
559 \r
560         if( xReturn == pdPASS )\r
561         {\r
562                 if( xSchedulerRunning != pdFALSE )\r
563                 {\r
564                         /* If the created task is of a higher priority than the current task\r
565                         then it should run now. */\r
566                         if( pxCurrentTCB->uxPriority < uxPriority )\r
567                         {\r
568                                 portYIELD_WITHIN_API();\r
569                         }\r
570                 }\r
571         }\r
572 \r
573         return xReturn;\r
574 }\r
575 /*-----------------------------------------------------------*/\r
576 \r
577 #if ( INCLUDE_vTaskDelete == 1 )\r
578 \r
579         void vTaskDelete( xTaskHandle pxTaskToDelete )\r
580         {\r
581         tskTCB *pxTCB;\r
582 \r
583                 taskENTER_CRITICAL();\r
584                 {\r
585                         /* Ensure a yield is performed if the current task is being\r
586                         deleted. */\r
587                         if( pxTaskToDelete == pxCurrentTCB )\r
588                         {\r
589                                 pxTaskToDelete = NULL;\r
590                         }\r
591 \r
592                         /* If null is passed in here then we are deleting ourselves. */\r
593                         pxTCB = prvGetTCBFromHandle( pxTaskToDelete );\r
594 \r
595                         /* Remove task from the ready list and place in the     termination list.\r
596                         This will stop the task from be scheduled.  The idle task will check\r
597                         the termination list and free up any memory allocated by the\r
598                         scheduler for the TCB and stack. */\r
599                         vListRemove( &( pxTCB->xGenericListItem ) );\r
600 \r
601                         /* Is the task waiting on an event also? */\r
602                         if( pxTCB->xEventListItem.pvContainer )\r
603                         {\r
604                                 vListRemove( &( pxTCB->xEventListItem ) );\r
605                         }\r
606 \r
607                         vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );\r
608 \r
609                         /* Increment the ucTasksDeleted variable so the idle task knows\r
610                         there is a task that has been deleted and that it should therefore\r
611                         check the xTasksWaitingTermination list. */\r
612                         ++uxTasksDeleted;\r
613 \r
614                         /* Increment the uxTaskNumberVariable also so kernel aware debuggers\r
615                         can detect that the task lists need re-generating. */\r
616                         uxTaskNumber++;\r
617 \r
618                         traceTASK_DELETE( pxTCB );\r
619                 }\r
620                 taskEXIT_CRITICAL();\r
621 \r
622                 /* Force a reschedule if we have just deleted the current task. */\r
623                 if( xSchedulerRunning != pdFALSE )\r
624                 {\r
625                         if( ( void * ) pxTaskToDelete == NULL )\r
626                         {\r
627                                 portYIELD_WITHIN_API();\r
628                         }\r
629                 }\r
630         }\r
631 \r
632 #endif\r
633 \r
634 \r
635 \r
636 \r
637 \r
638 \r
639 /*-----------------------------------------------------------\r
640  * TASK CONTROL API documented in task.h\r
641  *----------------------------------------------------------*/\r
642 \r
643 #if ( INCLUDE_vTaskDelayUntil == 1 )\r
644 \r
645         void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )\r
646         {\r
647         portTickType xTimeToWake;\r
648         portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;\r
649 \r
650                 vTaskSuspendAll();\r
651                 {\r
652                         /* Generate the tick time at which the task wants to wake. */\r
653                         xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;\r
654 \r
655                         if( xTickCount < *pxPreviousWakeTime )\r
656                         {\r
657                                 /* The tick count has overflowed since this function was\r
658                                 lasted called.  In this case the only time we should ever\r
659                                 actually delay is if the wake time has also     overflowed,\r
660                                 and the wake time is greater than the tick time.  When this\r
661                                 is the case it is as if neither time had overflowed. */\r
662                                 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )\r
663                                 {\r
664                                         xShouldDelay = pdTRUE;\r
665                                 }\r
666                         }\r
667                         else\r
668                         {\r
669                                 /* The tick time has not overflowed.  In this case we will\r
670                                 delay if either the wake time has overflowed, and/or the\r
671                                 tick time is less than the wake time. */\r
672                                 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )\r
673                                 {\r
674                                         xShouldDelay = pdTRUE;\r
675                                 }\r
676                         }\r
677 \r
678                         /* Update the wake time ready for the next call. */\r
679                         *pxPreviousWakeTime = xTimeToWake;\r
680 \r
681                         if( xShouldDelay != pdFALSE )\r
682                         {\r
683                                 traceTASK_DELAY_UNTIL();\r
684 \r
685                                 /* We must remove ourselves from the ready list before adding\r
686                                 ourselves to the blocked list as the same list item is used for\r
687                                 both lists. */\r
688                                 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
689                                 prvAddCurrentTaskToDelayedList( xTimeToWake );\r
690                         }\r
691                 }\r
692                 xAlreadyYielded = xTaskResumeAll();\r
693 \r
694                 /* Force a reschedule if xTaskResumeAll has not already done so, we may\r
695                 have put ourselves to sleep. */\r
696                 if( !xAlreadyYielded )\r
697                 {\r
698                         portYIELD_WITHIN_API();\r
699                 }\r
700         }\r
701 \r
702 #endif\r
703 /*-----------------------------------------------------------*/\r
704 \r
705 #if ( INCLUDE_vTaskDelay == 1 )\r
706 \r
707         void vTaskDelay( portTickType xTicksToDelay )\r
708         {\r
709         portTickType xTimeToWake;\r
710         signed portBASE_TYPE xAlreadyYielded = pdFALSE;\r
711 \r
712                 /* A delay time of zero just forces a reschedule. */\r
713                 if( xTicksToDelay > ( portTickType ) 0 )\r
714                 {\r
715                         vTaskSuspendAll();\r
716                         {\r
717                                 traceTASK_DELAY();\r
718 \r
719                                 /* A task that is removed from the event list while the\r
720                                 scheduler is suspended will not get placed in the ready\r
721                                 list or removed from the blocked list until the scheduler\r
722                                 is resumed.\r
723 \r
724                                 This task cannot be in an event list as it is the currently\r
725                                 executing task. */\r
726 \r
727                                 /* Calculate the time to wake - this may overflow but this is\r
728                                 not a problem. */\r
729                                 xTimeToWake = xTickCount + xTicksToDelay;\r
730 \r
731                                 /* We must remove ourselves from the ready list before adding\r
732                                 ourselves to the blocked list as the same list item is used for\r
733                                 both lists. */\r
734                                 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
735                                 prvAddCurrentTaskToDelayedList( xTimeToWake );\r
736                         }\r
737                         xAlreadyYielded = xTaskResumeAll();\r
738                 }\r
739 \r
740                 /* Force a reschedule if xTaskResumeAll has not already done so, we may\r
741                 have put ourselves to sleep. */\r
742                 if( !xAlreadyYielded )\r
743                 {\r
744                         portYIELD_WITHIN_API();\r
745                 }\r
746         }\r
747 \r
748 #endif\r
749 /*-----------------------------------------------------------*/\r
750 \r
751 void vTaskUnblockTask( xTaskHandle pxTask )\r
752 {\r
753 tskTCB *pxTCB = ( tskTCB * ) pxTask;\r
754 \r
755         /* This function is not intended to be a public API function and definitely\r
756         is not for generic use as it assumes pxTask is not the running task and not\r
757         suspended, does not remove the task from any event lists it might be \r
758         blocked on, and does not take care of mutual exclusion. */\r
759         vListRemove( &( pxTCB->xGenericListItem ) );\r
760         prvAddTaskToReadyQueue( pxTCB );\r
761 }\r
762 /*-----------------------------------------------------------*/\r
763 \r
764 #if ( INCLUDE_uxTaskPriorityGet == 1 )\r
765 \r
766         unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )\r
767         {\r
768         tskTCB *pxTCB;\r
769         unsigned portBASE_TYPE uxReturn;\r
770 \r
771                 taskENTER_CRITICAL();\r
772                 {\r
773                         /* If null is passed in here then we are changing the\r
774                         priority of the calling function. */\r
775                         pxTCB = prvGetTCBFromHandle( pxTask );\r
776                         uxReturn = pxTCB->uxPriority;\r
777                 }\r
778                 taskEXIT_CRITICAL();\r
779 \r
780                 return uxReturn;\r
781         }\r
782 \r
783 #endif\r
784 /*-----------------------------------------------------------*/\r
785 \r
786 #if ( INCLUDE_vTaskPrioritySet == 1 )\r
787 \r
788         void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )\r
789         {\r
790         tskTCB *pxTCB;\r
791         unsigned portBASE_TYPE uxCurrentPriority;\r
792         portBASE_TYPE xYieldRequired = pdFALSE;\r
793 \r
794                 /* Ensure the new priority is valid. */\r
795                 if( uxNewPriority >= configMAX_PRIORITIES )\r
796                 {\r
797                         uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;\r
798                 }\r
799 \r
800                 taskENTER_CRITICAL();\r
801                 {\r
802                         if( pxTask == pxCurrentTCB )\r
803                         {\r
804                                 pxTask = NULL;\r
805                         }\r
806 \r
807                         /* If null is passed in here then we are changing the\r
808                         priority of the calling function. */\r
809                         pxTCB = prvGetTCBFromHandle( pxTask );\r
810 \r
811                         traceTASK_PRIORITY_SET( pxTask, uxNewPriority );\r
812 \r
813                         #if ( configUSE_MUTEXES == 1 )\r
814                         {\r
815                                 uxCurrentPriority = pxTCB->uxBasePriority;\r
816                         }\r
817                         #else\r
818                         {\r
819                                 uxCurrentPriority = pxTCB->uxPriority;\r
820                         }\r
821                         #endif\r
822 \r
823                         if( uxCurrentPriority != uxNewPriority )\r
824                         {\r
825                                 /* The priority change may have readied a task of higher\r
826                                 priority than the calling task. */\r
827                                 if( uxNewPriority > uxCurrentPriority )\r
828                                 {\r
829                                         if( pxTask != NULL )\r
830                                         {\r
831                                                 /* The priority of another task is being raised.  If we\r
832                                                 were raising the priority of the currently running task\r
833                                                 there would be no need to switch as it must have already\r
834                                                 been the highest priority task. */\r
835                                                 xYieldRequired = pdTRUE;\r
836                                         }\r
837                                 }\r
838                                 else if( pxTask == NULL )\r
839                                 {\r
840                                         /* Setting our own priority down means there may now be another\r
841                                         task of higher priority that is ready to execute. */\r
842                                         xYieldRequired = pdTRUE;\r
843                                 }\r
844 \r
845 \r
846 \r
847                                 #if ( configUSE_MUTEXES == 1 )\r
848                                 {\r
849                                         /* Only change the priority being used if the task is not\r
850                                         currently using an inherited priority. */\r
851                                         if( pxTCB->uxBasePriority == pxTCB->uxPriority )\r
852                                         {\r
853                                                 pxTCB->uxPriority = uxNewPriority;\r
854                                         }\r
855 \r
856                                         /* The base priority gets set whatever. */\r
857                                         pxTCB->uxBasePriority = uxNewPriority;\r
858                                 }\r
859                                 #else\r
860                                 {\r
861                                         pxTCB->uxPriority = uxNewPriority;\r
862                                 }\r
863                                 #endif\r
864 \r
865                                 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );\r
866 \r
867                                 /* If the task is in the blocked or suspended list we need do\r
868                                 nothing more than change it's priority variable. However, if\r
869                                 the task is in a ready list it needs to be removed and placed\r
870                                 in the queue appropriate to its new priority. */\r
871                                 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )\r
872                                 {\r
873                                         /* The task is currently in its ready list - remove before adding\r
874                                         it to it's new ready list.  As we are in a critical section we\r
875                                         can do this even if the scheduler is suspended. */\r
876                                         vListRemove( &( pxTCB->xGenericListItem ) );\r
877                                         prvAddTaskToReadyQueue( pxTCB );\r
878                                 }\r
879 \r
880                                 if( xYieldRequired == pdTRUE )\r
881                                 {\r
882                                         portYIELD_WITHIN_API();\r
883                                 }\r
884                         }\r
885                 }\r
886                 taskEXIT_CRITICAL();\r
887         }\r
888 \r
889 #endif\r
890 /*-----------------------------------------------------------*/\r
891 \r
892 #if ( INCLUDE_vTaskSuspend == 1 )\r
893 \r
894         void vTaskSuspend( xTaskHandle pxTaskToSuspend )\r
895         {\r
896         tskTCB *pxTCB;\r
897 \r
898                 taskENTER_CRITICAL();\r
899                 {\r
900                         /* Ensure a yield is performed if the current task is being\r
901                         suspended. */\r
902                         if( pxTaskToSuspend == pxCurrentTCB )\r
903                         {\r
904                                 pxTaskToSuspend = NULL;\r
905                         }\r
906 \r
907                         /* If null is passed in here then we are suspending ourselves. */\r
908                         pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );\r
909 \r
910                         traceTASK_SUSPEND( pxTCB );\r
911 \r
912                         /* Remove task from the ready/delayed list and place in the     suspended list. */\r
913                         vListRemove( &( pxTCB->xGenericListItem ) );\r
914 \r
915                         /* Is the task waiting on an event also? */\r
916                         if( pxTCB->xEventListItem.pvContainer )\r
917                         {\r
918                                 vListRemove( &( pxTCB->xEventListItem ) );\r
919                         }\r
920 \r
921                         vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );\r
922                 }\r
923                 taskEXIT_CRITICAL();\r
924 \r
925                 if( ( void * ) pxTaskToSuspend == NULL )\r
926                 {\r
927                         if( xSchedulerRunning != pdFALSE )\r
928                         {\r
929                                 /* We have just suspended the current task. */\r
930                                 portYIELD_WITHIN_API();\r
931                         }\r
932                         else\r
933                         {\r
934                                 /* The scheduler is not running, but the task that was pointed\r
935                                 to by pxCurrentTCB has just been suspended and pxCurrentTCB\r
936                                 must be adjusted to point to a different task. */\r
937                                 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1U )\r
938                                 {\r
939                                         /* No other tasks are defined, so set pxCurrentTCB back to\r
940                                         NULL so when the next task is created pxCurrentTCB will\r
941                                         be set to point to it no matter what its relative priority\r
942                                         is. */\r
943                                         pxCurrentTCB = NULL;\r
944                                 }\r
945                                 else\r
946                                 {\r
947                                         vTaskSwitchContext();\r
948                                 }\r
949                         }\r
950                 }\r
951         }\r
952 \r
953 #endif\r
954 /*-----------------------------------------------------------*/\r
955 \r
956 #if ( INCLUDE_vTaskSuspend == 1 )\r
957 \r
958         signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )\r
959         {\r
960         portBASE_TYPE xReturn = pdFALSE;\r
961         const tskTCB * const pxTCB = ( tskTCB * ) xTask;\r
962 \r
963                 /* Is the task we are attempting to resume actually in the\r
964                 suspended list? */\r
965                 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )\r
966                 {\r
967                         /* Has the task already been resumed from within an ISR? */\r
968                         if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )\r
969                         {\r
970                                 /* Is it in the suspended list because it is in the\r
971                                 Suspended state?  It is possible to be in the suspended\r
972                                 list because it is blocked on a task with no timeout\r
973                                 specified. */\r
974                                 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )\r
975                                 {\r
976                                         xReturn = pdTRUE;\r
977                                 }\r
978                         }\r
979                 }\r
980 \r
981                 return xReturn;\r
982         }\r
983 \r
984 #endif\r
985 /*-----------------------------------------------------------*/\r
986 \r
987 #if ( INCLUDE_vTaskSuspend == 1 )\r
988 \r
989         void vTaskResume( xTaskHandle pxTaskToResume )\r
990         {\r
991         tskTCB *pxTCB;\r
992 \r
993                 /* Remove the task from whichever list it is currently in, and place\r
994                 it in the ready list. */\r
995                 pxTCB = ( tskTCB * ) pxTaskToResume;\r
996 \r
997                 /* The parameter cannot be NULL as it is impossible to resume the\r
998                 currently executing task. */\r
999                 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )\r
1000                 {\r
1001                         taskENTER_CRITICAL();\r
1002                         {\r
1003                                 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )\r
1004                                 {\r
1005                                         traceTASK_RESUME( pxTCB );\r
1006 \r
1007                                         /* As we are in a critical section we can access the ready\r
1008                                         lists even if the scheduler is suspended. */\r
1009                                         vListRemove(  &( pxTCB->xGenericListItem ) );\r
1010                                         prvAddTaskToReadyQueue( pxTCB );\r
1011 \r
1012                                         /* We may have just resumed a higher priority task. */\r
1013                                         if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
1014                                         {\r
1015                                                 /* This yield may not cause the task just resumed to run, but\r
1016                                                 will leave the lists in the correct state for the next yield. */\r
1017                                                 portYIELD_WITHIN_API();\r
1018                                         }\r
1019                                 }\r
1020                         }\r
1021                         taskEXIT_CRITICAL();\r
1022                 }\r
1023         }\r
1024 \r
1025 #endif\r
1026 \r
1027 /*-----------------------------------------------------------*/\r
1028 \r
1029 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )\r
1030 \r
1031         portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )\r
1032         {\r
1033         portBASE_TYPE xYieldRequired = pdFALSE;\r
1034         tskTCB *pxTCB;\r
1035 \r
1036                 pxTCB = ( tskTCB * ) pxTaskToResume;\r
1037 \r
1038                 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )\r
1039                 {\r
1040                         traceTASK_RESUME_FROM_ISR( pxTCB );\r
1041 \r
1042                         if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
1043                         {\r
1044                                 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );\r
1045                                 vListRemove(  &( pxTCB->xGenericListItem ) );\r
1046                                 prvAddTaskToReadyQueue( pxTCB );\r
1047                         }\r
1048                         else\r
1049                         {\r
1050                                 /* We cannot access the delayed or ready lists, so will hold this\r
1051                                 task pending until the scheduler is resumed, at which point a\r
1052                                 yield will be performed if necessary. */\r
1053                                 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );\r
1054                         }\r
1055                 }\r
1056 \r
1057                 return xYieldRequired;\r
1058         }\r
1059 \r
1060 #endif\r
1061 \r
1062 \r
1063 \r
1064 \r
1065 /*-----------------------------------------------------------\r
1066  * PUBLIC SCHEDULER CONTROL documented in task.h\r
1067  *----------------------------------------------------------*/\r
1068 \r
1069 \r
1070 void vTaskStartScheduler( void )\r
1071 {\r
1072 portBASE_TYPE xReturn;\r
1073 \r
1074         /* Add the idle task at the lowest priority. */\r
1075         xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), ( xTaskHandle * ) NULL );\r
1076 \r
1077         #if ( configUSE_TIMERS == 1 )\r
1078         {\r
1079                 if( xReturn == pdPASS )\r
1080                 {\r
1081                         xReturn = xTimerCreateTimerTask();\r
1082                 }\r
1083         }\r
1084         #endif\r
1085 \r
1086         if( xReturn == pdPASS )\r
1087         {\r
1088                 /* Interrupts are turned off here, to ensure a tick does not occur\r
1089                 before or during the call to xPortStartScheduler().  The stacks of\r
1090                 the created tasks contain a status word with interrupts switched on\r
1091                 so interrupts will automatically get re-enabled when the first task\r
1092                 starts to run.\r
1093 \r
1094                 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE\r
1095                 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */\r
1096                 portDISABLE_INTERRUPTS();\r
1097 \r
1098                 xSchedulerRunning = pdTRUE;\r
1099                 xTickCount = ( portTickType ) 0;\r
1100 \r
1101                 /* If configGENERATE_RUN_TIME_STATS is defined then the following\r
1102                 macro must be defined to configure the timer/counter used to generate\r
1103                 the run time counter time base. */\r
1104                 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();\r
1105                 \r
1106                 /* Setting up the timer tick is hardware specific and thus in the\r
1107                 portable interface. */\r
1108                 if( xPortStartScheduler() )\r
1109                 {\r
1110                         /* Should not reach here as if the scheduler is running the\r
1111                         function will not return. */\r
1112                 }\r
1113                 else\r
1114                 {\r
1115                         /* Should only reach here if a task calls xTaskEndScheduler(). */\r
1116                 }\r
1117         }\r
1118 }\r
1119 /*-----------------------------------------------------------*/\r
1120 \r
1121 void vTaskEndScheduler( void )\r
1122 {\r
1123         /* Stop the scheduler interrupts and call the portable scheduler end\r
1124         routine so the original ISRs can be restored if necessary.  The port\r
1125         layer must ensure interrupts enable     bit is left in the correct state. */\r
1126         portDISABLE_INTERRUPTS();\r
1127         xSchedulerRunning = pdFALSE;\r
1128         vPortEndScheduler();\r
1129 }\r
1130 /*----------------------------------------------------------*/\r
1131 \r
1132 void vTaskSuspendAll( void )\r
1133 {\r
1134         /* A critical section is not required as the variable is of type\r
1135         portBASE_TYPE. */\r
1136         ++uxSchedulerSuspended;\r
1137 }\r
1138 /*----------------------------------------------------------*/\r
1139 \r
1140 signed portBASE_TYPE xTaskResumeAll( void )\r
1141 {\r
1142 register tskTCB *pxTCB;\r
1143 signed portBASE_TYPE xAlreadyYielded = pdFALSE;\r
1144 \r
1145         /* It is possible that an ISR caused a task to be removed from an event\r
1146         list while the scheduler was suspended.  If this was the case then the\r
1147         removed task will have been added to the xPendingReadyList.  Once the\r
1148         scheduler has been resumed it is safe to move all the pending ready\r
1149         tasks from this list into their appropriate ready list. */\r
1150         taskENTER_CRITICAL();\r
1151         {\r
1152                 --uxSchedulerSuspended;\r
1153 \r
1154                 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
1155                 {\r
1156                         if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )\r
1157                         {\r
1158                                 portBASE_TYPE xYieldRequired = pdFALSE;\r
1159 \r
1160                                 /* Move any readied tasks from the pending list into the\r
1161                                 appropriate ready list. */\r
1162                                 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )\r
1163                                 {\r
1164                                         pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY(  ( ( xList * ) &xPendingReadyList ) );\r
1165                                         vListRemove( &( pxTCB->xEventListItem ) );\r
1166                                         vListRemove( &( pxTCB->xGenericListItem ) );\r
1167                                         prvAddTaskToReadyQueue( pxTCB );\r
1168 \r
1169                                         /* If we have moved a task that has a priority higher than\r
1170                                         the current task then we should yield. */\r
1171                                         if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
1172                                         {\r
1173                                                 xYieldRequired = pdTRUE;\r
1174                                         }\r
1175                                 }\r
1176 \r
1177                                 /* If any ticks occurred while the scheduler was suspended then\r
1178                                 they should be processed now.  This ensures the tick count does not\r
1179                                 slip, and that any delayed tasks are resumed at the correct time. */\r
1180                                 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )\r
1181                                 {\r
1182                                         while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )\r
1183                                         {\r
1184                                                 vTaskIncrementTick();\r
1185                                                 --uxMissedTicks;\r
1186                                         }\r
1187 \r
1188                                         /* As we have processed some ticks it is appropriate to yield\r
1189                                         to ensure the highest priority task that is ready to run is\r
1190                                         the task actually running. */\r
1191                                         #if configUSE_PREEMPTION == 1\r
1192                                         {\r
1193                                                 xYieldRequired = pdTRUE;\r
1194                                         }\r
1195                                         #endif\r
1196                                 }\r
1197 \r
1198                                 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )\r
1199                                 {\r
1200                                         xAlreadyYielded = pdTRUE;\r
1201                                         xMissedYield = pdFALSE;\r
1202                                         portYIELD_WITHIN_API();\r
1203                                 }\r
1204                         }\r
1205                 }\r
1206         }\r
1207         taskEXIT_CRITICAL();\r
1208 \r
1209         return xAlreadyYielded;\r
1210 }\r
1211 \r
1212 \r
1213 \r
1214 \r
1215 \r
1216 \r
1217 /*-----------------------------------------------------------\r
1218  * PUBLIC TASK UTILITIES documented in task.h\r
1219  *----------------------------------------------------------*/\r
1220 \r
1221 \r
1222 \r
1223 portTickType xTaskGetTickCount( void )\r
1224 {\r
1225 portTickType xTicks;\r
1226 \r
1227         /* Critical section required if running on a 16 bit processor. */\r
1228         taskENTER_CRITICAL();\r
1229         {\r
1230                 xTicks = xTickCount;\r
1231         }\r
1232         taskEXIT_CRITICAL();\r
1233 \r
1234         return xTicks;\r
1235 }\r
1236 /*-----------------------------------------------------------*/\r
1237 \r
1238 portTickType xTaskGetTickCountFromISR( void )\r
1239 {\r
1240         return xTickCount;\r
1241 }\r
1242 /*-----------------------------------------------------------*/\r
1243 \r
1244 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )\r
1245 {\r
1246         /* A critical section is not required because the variables are of type\r
1247         portBASE_TYPE. */\r
1248         return uxCurrentNumberOfTasks;\r
1249 }\r
1250 /*-----------------------------------------------------------*/\r
1251 \r
1252 #if ( configUSE_TRACE_FACILITY == 1 )\r
1253 \r
1254         void vTaskList( signed char *pcWriteBuffer )\r
1255         {\r
1256         unsigned portBASE_TYPE uxQueue;\r
1257 \r
1258                 /* This is a VERY costly function that should be used for debug only.\r
1259                 It leaves interrupts disabled for a LONG time. */\r
1260 \r
1261                 vTaskSuspendAll();\r
1262                 {\r
1263                         /* Run through all the lists that could potentially contain a TCB and\r
1264                         report the task name, state and stack high water mark. */\r
1265 \r
1266                         *pcWriteBuffer = ( signed char ) 0x00;\r
1267                         strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );\r
1268 \r
1269                         uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;\r
1270 \r
1271                         do\r
1272                         {\r
1273                                 uxQueue--;\r
1274 \r
1275                                 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )\r
1276                                 {\r
1277                                         prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );\r
1278                                 }\r
1279                         }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );\r
1280 \r
1281                         if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )\r
1282                         {\r
1283                                 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );\r
1284                         }\r
1285 \r
1286                         if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )\r
1287                         {\r
1288                                 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );\r
1289                         }\r
1290 \r
1291                         #if( INCLUDE_vTaskDelete == 1 )\r
1292                         {\r
1293                                 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )\r
1294                                 {\r
1295                                         prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );\r
1296                                 }\r
1297                         }\r
1298                         #endif\r
1299 \r
1300                         #if ( INCLUDE_vTaskSuspend == 1 )\r
1301                         {\r
1302                                 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )\r
1303                                 {\r
1304                                         prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );\r
1305                                 }\r
1306                         }\r
1307                         #endif\r
1308                 }\r
1309                 xTaskResumeAll();\r
1310         }\r
1311 \r
1312 #endif\r
1313 /*----------------------------------------------------------*/\r
1314 \r
1315 #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
1316 \r
1317         void vTaskGetRunTimeStats( signed char *pcWriteBuffer )\r
1318         {\r
1319         unsigned portBASE_TYPE uxQueue;\r
1320         unsigned long ulTotalRunTime;\r
1321 \r
1322                 /* This is a VERY costly function that should be used for debug only.\r
1323                 It leaves interrupts disabled for a LONG time. */\r
1324 \r
1325                 vTaskSuspendAll();\r
1326                 {\r
1327                         #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE\r
1328                                 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );\r
1329                         #else\r
1330                                 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();\r
1331                         #endif\r
1332 \r
1333                         /* Divide ulTotalRunTime by 100 to make the percentage caluclations\r
1334                         simpler in the prvGenerateRunTimeStatsForTasksInList() function. */\r
1335                         ulTotalRunTime /= 100UL;\r
1336                         \r
1337                         /* Run through all the lists that could potentially contain a TCB,\r
1338                         generating a table of run timer percentages in the provided\r
1339                         buffer. */\r
1340 \r
1341                         *pcWriteBuffer = ( signed char ) 0x00;\r
1342                         strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );\r
1343 \r
1344                         uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;\r
1345 \r
1346                         do\r
1347                         {\r
1348                                 uxQueue--;\r
1349 \r
1350                                 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )\r
1351                                 {\r
1352                                         prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );\r
1353                                 }\r
1354                         }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );\r
1355 \r
1356                         if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )\r
1357                         {\r
1358                                 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );\r
1359                         }\r
1360 \r
1361                         if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )\r
1362                         {\r
1363                                 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );\r
1364                         }\r
1365 \r
1366                         #if ( INCLUDE_vTaskDelete == 1 )\r
1367                         {\r
1368                                 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )\r
1369                                 {\r
1370                                         prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, ulTotalRunTime );\r
1371                                 }\r
1372                         }\r
1373                         #endif\r
1374 \r
1375                         #if ( INCLUDE_vTaskSuspend == 1 )\r
1376                         {\r
1377                                 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )\r
1378                                 {\r
1379                                         prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, ulTotalRunTime );\r
1380                                 }\r
1381                         }\r
1382                         #endif\r
1383                 }\r
1384                 xTaskResumeAll();\r
1385         }\r
1386 \r
1387 #endif\r
1388 /*----------------------------------------------------------*/\r
1389 \r
1390 #if ( configUSE_TRACE_FACILITY == 1 )\r
1391 \r
1392         void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize )\r
1393         {\r
1394                 taskENTER_CRITICAL();\r
1395                 {\r
1396                         pcTraceBuffer = ( signed char * )pcBuffer;\r
1397                         pcTraceBufferStart = pcBuffer;\r
1398                         pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );\r
1399                         xTracing = pdTRUE;\r
1400                 }\r
1401                 taskEXIT_CRITICAL();\r
1402         }\r
1403 \r
1404 #endif\r
1405 /*----------------------------------------------------------*/\r
1406 \r
1407 #if ( configUSE_TRACE_FACILITY == 1 )\r
1408 \r
1409         unsigned long ulTaskEndTrace( void )\r
1410         {\r
1411         unsigned long ulBufferLength;\r
1412 \r
1413                 taskENTER_CRITICAL();\r
1414                         xTracing = pdFALSE;\r
1415                 taskEXIT_CRITICAL();\r
1416 \r
1417                 ulBufferLength = ( unsigned long ) ( pcTraceBuffer - pcTraceBufferStart );\r
1418 \r
1419                 return ulBufferLength;\r
1420         }\r
1421 \r
1422 #endif\r
1423 \r
1424 \r
1425 \r
1426 /*-----------------------------------------------------------\r
1427  * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES\r
1428  * documented in task.h\r
1429  *----------------------------------------------------------*/\r
1430 \r
1431 \r
1432 void vTaskIncrementTick( void )\r
1433 {\r
1434         /* Called by the portable layer each time a tick interrupt occurs.\r
1435         Increments the tick then checks to see if the new tick value will cause any\r
1436         tasks to be unblocked. */\r
1437         if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
1438         {\r
1439                 ++xTickCount;\r
1440                 if( xTickCount == ( portTickType ) 0 )\r
1441                 {\r
1442                         xList *pxTemp;\r
1443 \r
1444                         /* Tick count has overflowed so we need to swap the delay lists.\r
1445                         If there are any items in pxDelayedTaskList here then there is\r
1446                         an error! */\r
1447                         pxTemp = pxDelayedTaskList;\r
1448                         pxDelayedTaskList = pxOverflowDelayedTaskList;\r
1449                         pxOverflowDelayedTaskList = pxTemp;\r
1450                         xNumOfOverflows++;\r
1451                         \r
1452                         #if configUSE_TIMERS == 1\r
1453                         {\r
1454                                 /* The timer service task needs to know to switch its lists\r
1455                                 too. */\r
1456                                 xTimerGenericCommand( NULL, trmCOMMAND_PROCESS_TIMER_OVERFLOW, 0, 0 );\r
1457                         }\r
1458                         #endif\r
1459                         \r
1460                         if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )\r
1461                         {\r
1462                                 /* The delayed list is empty.  Set xNextTaskUnblockTime to the\r
1463                                 maximum possible value so it is extremely unlikely that the\r
1464                                 if( xTickCount >= xNextTaskUnblockTime ) test will pass\r
1465                                 until there is an item in the delayed list. */\r
1466                                 xNextTaskUnblockTime = portMAX_DELAY;\r
1467                         }\r
1468                         else\r
1469                         {\r
1470                                 tskTCB * pxTCB;\r
1471 \r
1472                                 /* The delayed list is not empty, get the value of the item at\r
1473                                 the head of the delayed list.  This is the time at which the\r
1474                                 task at the head of the delayed list should be removed from\r
1475                                 the Blocked state. */\r
1476                                 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );\r
1477                                 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );\r
1478                         }\r
1479                 }\r
1480 \r
1481                 /* See if this tick has made a timeout expire. */\r
1482                 prvCheckDelayedTasks();\r
1483         }\r
1484         else\r
1485         {\r
1486                 ++uxMissedTicks;\r
1487 \r
1488                 /* The tick hook gets called at regular intervals, even if the\r
1489                 scheduler is locked. */\r
1490                 #if ( configUSE_TICK_HOOK == 1 )\r
1491                 {\r
1492                         extern void vApplicationTickHook( void );\r
1493 \r
1494                         vApplicationTickHook();\r
1495                 }\r
1496                 #endif\r
1497         }\r
1498 \r
1499         #if ( configUSE_TICK_HOOK == 1 )\r
1500         {\r
1501                 extern void vApplicationTickHook( void );\r
1502 \r
1503                 /* Guard against the tick hook being called when the missed tick\r
1504                 count is being unwound (when the scheduler is being unlocked. */\r
1505                 if( uxMissedTicks == 0 )\r
1506                 {\r
1507                         vApplicationTickHook();\r
1508                 }\r
1509         }\r
1510         #endif\r
1511 \r
1512         traceTASK_INCREMENT_TICK( xTickCount );\r
1513 }\r
1514 /*-----------------------------------------------------------*/\r
1515 \r
1516 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )\r
1517 \r
1518         void vTaskCleanUpResources( void )\r
1519         {\r
1520         unsigned short usQueue;\r
1521         volatile tskTCB *pxTCB;\r
1522 \r
1523                 usQueue = ( unsigned short ) uxTopUsedPriority + ( unsigned short ) 1;\r
1524 \r
1525                 /* Remove any TCB's from the ready queues. */\r
1526                 do\r
1527                 {\r
1528                         usQueue--;\r
1529 \r
1530                         while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )\r
1531                         {\r
1532                                 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );\r
1533                                 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );\r
1534 \r
1535                                 prvDeleteTCB( ( tskTCB * ) pxTCB );\r
1536                         }\r
1537                 }while( usQueue > ( unsigned short ) tskIDLE_PRIORITY );\r
1538 \r
1539                 /* Remove any TCB's from the delayed queue. */\r
1540                 while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )\r
1541                 {\r
1542                         listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );\r
1543                         vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );\r
1544 \r
1545                         prvDeleteTCB( ( tskTCB * ) pxTCB );\r
1546                 }\r
1547 \r
1548                 /* Remove any TCB's from the overflow delayed queue. */\r
1549                 while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )\r
1550                 {\r
1551                         listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );\r
1552                         vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );\r
1553 \r
1554                         prvDeleteTCB( ( tskTCB * ) pxTCB );\r
1555                 }\r
1556 \r
1557                 while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )\r
1558                 {\r
1559                         listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );\r
1560                         vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );\r
1561 \r
1562                         prvDeleteTCB( ( tskTCB * ) pxTCB );\r
1563                 }\r
1564         }\r
1565 \r
1566 #endif\r
1567 /*-----------------------------------------------------------*/\r
1568 \r
1569 #if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
1570 \r
1571         void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue )\r
1572         {\r
1573         tskTCB *xTCB;\r
1574 \r
1575                 /* If xTask is NULL then we are setting our own task hook. */\r
1576                 if( xTask == NULL )\r
1577                 {\r
1578                         xTCB = ( tskTCB * ) pxCurrentTCB;\r
1579                 }\r
1580                 else\r
1581                 {\r
1582                         xTCB = ( tskTCB * ) xTask;\r
1583                 }\r
1584 \r
1585                 /* Save the hook function in the TCB.  A critical section is required as\r
1586                 the value can be accessed from an interrupt. */\r
1587                 taskENTER_CRITICAL();\r
1588                         xTCB->pxTaskTag = pxTagValue;\r
1589                 taskEXIT_CRITICAL();\r
1590         }\r
1591 \r
1592 #endif\r
1593 /*-----------------------------------------------------------*/\r
1594 \r
1595 #if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
1596 \r
1597         pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )\r
1598         {\r
1599         tskTCB *xTCB;\r
1600         pdTASK_HOOK_CODE xReturn;\r
1601 \r
1602                 /* If xTask is NULL then we are setting our own task hook. */\r
1603                 if( xTask == NULL )\r
1604                 {\r
1605                         xTCB = ( tskTCB * ) pxCurrentTCB;\r
1606                 }\r
1607                 else\r
1608                 {\r
1609                         xTCB = ( tskTCB * ) xTask;\r
1610                 }\r
1611 \r
1612                 /* Save the hook function in the TCB.  A critical section is required as\r
1613                 the value can be accessed from an interrupt. */\r
1614                 taskENTER_CRITICAL();\r
1615                         xReturn = xTCB->pxTaskTag;\r
1616                 taskEXIT_CRITICAL();\r
1617 \r
1618                 return xReturn;\r
1619         }\r
1620 \r
1621 #endif\r
1622 /*-----------------------------------------------------------*/\r
1623 \r
1624 #if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
1625 \r
1626         portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )\r
1627         {\r
1628         tskTCB *xTCB;\r
1629         portBASE_TYPE xReturn;\r
1630 \r
1631                 /* If xTask is NULL then we are calling our own task hook. */\r
1632                 if( xTask == NULL )\r
1633                 {\r
1634                         xTCB = ( tskTCB * ) pxCurrentTCB;\r
1635                 }\r
1636                 else\r
1637                 {\r
1638                         xTCB = ( tskTCB * ) xTask;\r
1639                 }\r
1640 \r
1641                 if( xTCB->pxTaskTag != NULL )\r
1642                 {\r
1643                         xReturn = xTCB->pxTaskTag( pvParameter );\r
1644                 }\r
1645                 else\r
1646                 {\r
1647                         xReturn = pdFAIL;\r
1648                 }\r
1649 \r
1650                 return xReturn;\r
1651         }\r
1652 \r
1653 #endif\r
1654 /*-----------------------------------------------------------*/\r
1655 \r
1656 void vTaskSwitchContext( void )\r
1657 {\r
1658         if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )\r
1659         {\r
1660                 /* The scheduler is currently suspended - do not allow a context\r
1661                 switch. */\r
1662                 xMissedYield = pdTRUE;\r
1663         }\r
1664         else\r
1665         {\r
1666                 traceTASK_SWITCHED_OUT();\r
1667         \r
1668                 #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
1669                 {\r
1670                         unsigned long ulTempCounter;\r
1671                         \r
1672                                 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE\r
1673                                         portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter );\r
1674                                 #else\r
1675                                         ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();\r
1676                                 #endif\r
1677         \r
1678                                 /* Add the amount of time the task has been running to the accumulated\r
1679                                 time so far.  The time the task started running was stored in\r
1680                                 ulTaskSwitchedInTime.  Note that there is no overflow protection here\r
1681                                 so count values are only valid until the timer overflows.  Generally\r
1682                                 this will be about 1 hour assuming a 1uS timer increment. */\r
1683                                 pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );\r
1684                                 ulTaskSwitchedInTime = ulTempCounter;\r
1685                 }\r
1686                 #endif\r
1687         \r
1688                 taskFIRST_CHECK_FOR_STACK_OVERFLOW();\r
1689                 taskSECOND_CHECK_FOR_STACK_OVERFLOW();\r
1690         \r
1691                 /* Find the highest priority queue that contains ready tasks. */\r
1692                 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )\r
1693                 {\r
1694                         --uxTopReadyPriority;\r
1695                 }\r
1696         \r
1697                 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the\r
1698                 same priority get an equal share of the processor time. */\r
1699                 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );\r
1700         \r
1701                 traceTASK_SWITCHED_IN();\r
1702                 vWriteTraceToBuffer();\r
1703         }\r
1704 }\r
1705 /*-----------------------------------------------------------*/\r
1706 \r
1707 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )\r
1708 {\r
1709 portTickType xTimeToWake;\r
1710 \r
1711         /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE\r
1712         SCHEDULER SUSPENDED. */\r
1713 \r
1714         /* Place the event list item of the TCB in the appropriate event list.\r
1715         This is placed in the list in priority order so the highest priority task\r
1716         is the first to be woken by the event. */\r
1717         vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );\r
1718 \r
1719         /* We must remove ourselves from the ready list before adding ourselves\r
1720         to the blocked list as the same list item is used for both lists.  We have\r
1721         exclusive access to the ready lists as the scheduler is locked. */\r
1722         vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
1723 \r
1724 \r
1725         #if ( INCLUDE_vTaskSuspend == 1 )\r
1726         {\r
1727                 if( xTicksToWait == portMAX_DELAY )\r
1728                 {\r
1729                         /* Add ourselves to the suspended task list instead of a delayed task\r
1730                         list to ensure we are not woken by a timing event.  We will block\r
1731                         indefinitely. */\r
1732                         vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
1733                 }\r
1734                 else\r
1735                 {\r
1736                         /* Calculate the time at which the task should be woken if the event does\r
1737                         not occur.  This may overflow but this doesn't matter. */\r
1738                         xTimeToWake = xTickCount + xTicksToWait;\r
1739                         prvAddCurrentTaskToDelayedList( xTimeToWake );\r
1740                 }\r
1741         }\r
1742         #else\r
1743         {\r
1744                         /* Calculate the time at which the task should be woken if the event does\r
1745                         not occur.  This may overflow but this doesn't matter. */\r
1746                         xTimeToWake = xTickCount + xTicksToWait;\r
1747                         prvAddCurrentTaskToDelayedList( xTimeToWake );\r
1748         }\r
1749         #endif\r
1750 }\r
1751 /*-----------------------------------------------------------*/\r
1752 \r
1753 #if configUSE_TIMERS == 1\r
1754 \r
1755         void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )\r
1756         {\r
1757         portTickType xTimeToWake;\r
1758 \r
1759                 /* This function should not be called by application code hence the \r
1760                 'Restricted' in its name.  It is not part of the public API.  It is \r
1761                 designed for use by kernel code, and has special calling requirements - \r
1762                 it should be called from a critical section. */\r
1763 \r
1764         \r
1765                 /* Place the event list item of the TCB in the appropriate event list.\r
1766                 In this case it is assume that this is the only task that is going to\r
1767                 be waiting on this event list, so the faster vListInsertEnd() function\r
1768                 can be used in place of vListInsert. */\r
1769                 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );\r
1770 \r
1771                 /* We must remove this task from the ready list before adding it to the\r
1772                 blocked list as the same list item is used for both lists.  This \r
1773                 function is called form a critical section. */\r
1774                 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
1775 \r
1776                 /* Calculate the time at which the task should be woken if the event does\r
1777                 not occur.  This may overflow but this doesn't matter. */\r
1778                 xTimeToWake = xTickCount + xTicksToWait;\r
1779                 prvAddCurrentTaskToDelayedList( xTimeToWake );\r
1780         }\r
1781         \r
1782 #endif /* configUSE_TIMERS */\r
1783 /*-----------------------------------------------------------*/\r
1784 \r
1785 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )\r
1786 {\r
1787 tskTCB *pxUnblockedTCB;\r
1788 portBASE_TYPE xReturn;\r
1789 \r
1790         /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE\r
1791         SCHEDULER SUSPENDED.  It can also be called from within an ISR. */\r
1792 \r
1793         /* The event list is sorted in priority order, so we can remove the\r
1794         first in the list, remove the TCB from the delayed list, and add\r
1795         it to the ready list.\r
1796 \r
1797         If an event is for a queue that is locked then this function will never\r
1798         get called - the lock count on the queue will get modified instead.  This\r
1799         means we can always expect exclusive access to the event list here.\r
1800         \r
1801         This function assumes that a check has already been made to ensure that\r
1802         pxEventList is not empty. */\r
1803         pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );\r
1804         vListRemove( &( pxUnblockedTCB->xEventListItem ) );\r
1805 \r
1806         if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
1807         {\r
1808                 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );\r
1809                 prvAddTaskToReadyQueue( pxUnblockedTCB );\r
1810         }\r
1811         else\r
1812         {\r
1813                 /* We cannot access the delayed or ready lists, so will hold this\r
1814                 task pending until the scheduler is resumed. */\r
1815                 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );\r
1816         }\r
1817 \r
1818         if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )\r
1819         {\r
1820                 /* Return true if the task removed from the event list has\r
1821                 a higher priority than the calling task.  This allows\r
1822                 the calling task to know if it should force a context\r
1823                 switch now. */\r
1824                 xReturn = pdTRUE;\r
1825         }\r
1826         else\r
1827         {\r
1828                 xReturn = pdFALSE;\r
1829         }\r
1830 \r
1831         return xReturn;\r
1832 }\r
1833 /*-----------------------------------------------------------*/\r
1834 \r
1835 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )\r
1836 {\r
1837         pxTimeOut->xOverflowCount = xNumOfOverflows;\r
1838         pxTimeOut->xTimeOnEntering = xTickCount;\r
1839 }\r
1840 /*-----------------------------------------------------------*/\r
1841 \r
1842 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )\r
1843 {\r
1844 portBASE_TYPE xReturn;\r
1845 \r
1846         taskENTER_CRITICAL();\r
1847         {\r
1848                 #if ( INCLUDE_vTaskSuspend == 1 )\r
1849                         /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is\r
1850                         the maximum block time then the task should block indefinitely, and\r
1851                         therefore never time out. */\r
1852                         if( *pxTicksToWait == portMAX_DELAY )\r
1853                         {\r
1854                                 xReturn = pdFALSE;\r
1855                         }\r
1856                         else /* We are not blocking indefinitely, perform the checks below. */\r
1857                 #endif\r
1858 \r
1859                 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )\r
1860                 {\r
1861                         /* The tick count is greater than the time at which vTaskSetTimeout()\r
1862                         was called, but has also overflowed since vTaskSetTimeOut() was called.\r
1863                         It must have wrapped all the way around and gone past us again. This\r
1864                         passed since vTaskSetTimeout() was called. */\r
1865                         xReturn = pdTRUE;\r
1866                 }\r
1867                 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )\r
1868                 {\r
1869                         /* Not a genuine timeout. Adjust parameters for time remaining. */\r
1870                         *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );\r
1871                         vTaskSetTimeOutState( pxTimeOut );\r
1872                         xReturn = pdFALSE;\r
1873                 }\r
1874                 else\r
1875                 {\r
1876                         xReturn = pdTRUE;\r
1877                 }\r
1878         }\r
1879         taskEXIT_CRITICAL();\r
1880 \r
1881         return xReturn;\r
1882 }\r
1883 /*-----------------------------------------------------------*/\r
1884 \r
1885 void vTaskMissedYield( void )\r
1886 {\r
1887         xMissedYield = pdTRUE;\r
1888 }\r
1889 \r
1890 /*\r
1891  * -----------------------------------------------------------\r
1892  * The Idle task.\r
1893  * ----------------------------------------------------------\r
1894  *\r
1895  * The portTASK_FUNCTION() macro is used to allow port/compiler specific\r
1896  * language extensions.  The equivalent prototype for this function is:\r
1897  *\r
1898  * void prvIdleTask( void *pvParameters );\r
1899  *\r
1900  */\r
1901 static portTASK_FUNCTION( prvIdleTask, pvParameters )\r
1902 {\r
1903         /* Stop warnings. */\r
1904         ( void ) pvParameters;\r
1905 \r
1906         for( ;; )\r
1907         {\r
1908                 /* See if any tasks have been deleted. */\r
1909                 prvCheckTasksWaitingTermination();\r
1910 \r
1911                 #if ( configUSE_PREEMPTION == 0 )\r
1912                 {\r
1913                         /* If we are not using preemption we keep forcing a task switch to\r
1914                         see if any other task has become available.  If we are using\r
1915                         preemption we don't need to do this as any task becoming available\r
1916                         will automatically get the processor anyway. */\r
1917                         taskYIELD();\r
1918                 }\r
1919                 #endif\r
1920 \r
1921                 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )\r
1922                 {\r
1923                         /* When using preemption tasks of equal priority will be\r
1924                         timesliced.  If a task that is sharing the idle priority is ready\r
1925                         to run then the idle task should yield before the end of the\r
1926                         timeslice.\r
1927 \r
1928                         A critical region is not required here as we are just reading from\r
1929                         the list, and an occasional incorrect value will not matter.  If\r
1930                         the ready list at the idle priority contains more than one task\r
1931                         then a task other than the idle task is ready to execute. */\r
1932                         if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )\r
1933                         {\r
1934                                 taskYIELD();\r
1935                         }\r
1936                 }\r
1937                 #endif\r
1938 \r
1939                 #if ( configUSE_IDLE_HOOK == 1 )\r
1940                 {\r
1941                         extern void vApplicationIdleHook( void );\r
1942 \r
1943                         /* Call the user defined function from within the idle task.  This\r
1944                         allows the application designer to add background functionality\r
1945                         without the overhead of a separate task.\r
1946                         NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,\r
1947                         CALL A FUNCTION THAT MIGHT BLOCK. */\r
1948                         vApplicationIdleHook();\r
1949                 }\r
1950                 #endif\r
1951         }\r
1952 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */\r
1953 \r
1954 \r
1955 \r
1956 \r
1957 \r
1958 \r
1959 \r
1960 /*-----------------------------------------------------------\r
1961  * File private functions documented at the top of the file.\r
1962  *----------------------------------------------------------*/\r
1963 \r
1964 \r
1965 \r
1966 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )\r
1967 {\r
1968         /* Store the function name in the TCB. */\r
1969         #if configMAX_TASK_NAME_LEN > 1\r
1970         {\r
1971                 /* Don't bring strncpy into the build unnecessarily. */\r
1972                 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );\r
1973         }\r
1974         #endif\r
1975         pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';\r
1976 \r
1977         /* This is used as an array index so must ensure it's not too large.  First\r
1978         remove the privilege bit if one is present. */\r
1979         if( uxPriority >= configMAX_PRIORITIES )\r
1980         {\r
1981                 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;\r
1982         }\r
1983 \r
1984         pxTCB->uxPriority = uxPriority;\r
1985         #if ( configUSE_MUTEXES == 1 )\r
1986         {\r
1987                 pxTCB->uxBasePriority = uxPriority;\r
1988         }\r
1989         #endif\r
1990 \r
1991         vListInitialiseItem( &( pxTCB->xGenericListItem ) );\r
1992         vListInitialiseItem( &( pxTCB->xEventListItem ) );\r
1993 \r
1994         /* Set the pxTCB as a link back from the xListItem.  This is so we can get\r
1995         back to the containing TCB from a generic item in a list. */\r
1996         listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );\r
1997 \r
1998         /* Event lists are always in priority order. */\r
1999         listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );\r
2000         listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );\r
2001 \r
2002         #if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
2003         {\r
2004                 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;\r
2005         }\r
2006         #endif\r
2007 \r
2008         #if ( configUSE_APPLICATION_TASK_TAG == 1 )\r
2009         {\r
2010                 pxTCB->pxTaskTag = NULL;\r
2011         }\r
2012         #endif\r
2013 \r
2014         #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
2015         {\r
2016                 pxTCB->ulRunTimeCounter = 0UL;\r
2017         }\r
2018         #endif\r
2019 \r
2020         #if ( portUSING_MPU_WRAPPERS == 1 )\r
2021         {\r
2022                 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );\r
2023         }\r
2024         #else\r
2025         {\r
2026                 ( void ) xRegions;\r
2027                 ( void ) usStackDepth;\r
2028         }\r
2029         #endif\r
2030 }\r
2031 /*-----------------------------------------------------------*/\r
2032 \r
2033 #if ( portUSING_MPU_WRAPPERS == 1 )\r
2034 \r
2035         void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )\r
2036         {\r
2037         tskTCB *pxTCB;\r
2038         \r
2039                 if( xTaskToModify == pxCurrentTCB )\r
2040                 {\r
2041                         xTaskToModify = NULL;\r
2042                 }\r
2043 \r
2044                 /* If null is passed in here then we are deleting ourselves. */\r
2045                 pxTCB = prvGetTCBFromHandle( xTaskToModify );\r
2046 \r
2047         vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );\r
2048         }\r
2049         /*-----------------------------------------------------------*/\r
2050 #endif\r
2051 \r
2052 static void prvInitialiseTaskLists( void )\r
2053 {\r
2054 unsigned portBASE_TYPE uxPriority;\r
2055 \r
2056         for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )\r
2057         {\r
2058                 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );\r
2059         }\r
2060 \r
2061         vListInitialise( ( xList * ) &xDelayedTaskList1 );\r
2062         vListInitialise( ( xList * ) &xDelayedTaskList2 );\r
2063         vListInitialise( ( xList * ) &xPendingReadyList );\r
2064 \r
2065         #if ( INCLUDE_vTaskDelete == 1 )\r
2066         {\r
2067                 vListInitialise( ( xList * ) &xTasksWaitingTermination );\r
2068         }\r
2069         #endif\r
2070 \r
2071         #if ( INCLUDE_vTaskSuspend == 1 )\r
2072         {\r
2073                 vListInitialise( ( xList * ) &xSuspendedTaskList );\r
2074         }\r
2075         #endif\r
2076 \r
2077         /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList\r
2078         using list2. */\r
2079         pxDelayedTaskList = &xDelayedTaskList1;\r
2080         pxOverflowDelayedTaskList = &xDelayedTaskList2;\r
2081 }\r
2082 /*-----------------------------------------------------------*/\r
2083 \r
2084 static void prvCheckTasksWaitingTermination( void )\r
2085 {\r
2086         #if ( INCLUDE_vTaskDelete == 1 )\r
2087         {\r
2088                 portBASE_TYPE xListIsEmpty;\r
2089 \r
2090                 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called\r
2091                 too often in the idle task. */\r
2092                 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )\r
2093                 {\r
2094                         vTaskSuspendAll();\r
2095                                 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );\r
2096                         xTaskResumeAll();\r
2097 \r
2098                         if( xListIsEmpty == pdFALSE )\r
2099                         {\r
2100                                 tskTCB *pxTCB;\r
2101 \r
2102                                 taskENTER_CRITICAL();\r
2103                                 {\r
2104                                         pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );\r
2105                                         vListRemove( &( pxTCB->xGenericListItem ) );\r
2106                                         --uxCurrentNumberOfTasks;\r
2107                                         --uxTasksDeleted;\r
2108                                 }\r
2109                                 taskEXIT_CRITICAL();\r
2110 \r
2111                                 prvDeleteTCB( pxTCB );\r
2112                         }\r
2113                 }\r
2114         }\r
2115         #endif\r
2116 }\r
2117 /*-----------------------------------------------------------*/\r
2118 \r
2119 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )\r
2120 {\r
2121         /* The list item will be inserted in wake time order. */\r
2122         listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );\r
2123 \r
2124         if( xTimeToWake < xTickCount )\r
2125         {\r
2126                 /* Wake time has overflowed.  Place this item in the overflow list. */\r
2127                 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
2128         }\r
2129         else\r
2130         {\r
2131                 /* The wake time has not overflowed, so we can use the current block list. */\r
2132                 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );\r
2133 \r
2134                 /* If the task entering the blocked state was placed at the head of the\r
2135                 list of blocked tasks then xNextTaskUnmblockTime needs to be updated\r
2136                 too. */\r
2137                 if( xTimeToWake < xNextTaskUnblockTime )\r
2138                 {\r
2139                         xNextTaskUnblockTime = xTimeToWake;\r
2140                 }\r
2141         }\r
2142 }\r
2143 /*-----------------------------------------------------------*/\r
2144 \r
2145 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )\r
2146 {\r
2147 tskTCB *pxNewTCB;\r
2148 \r
2149         /* Allocate space for the TCB.  Where the memory comes from depends on\r
2150         the implementation of the port malloc function. */\r
2151         pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );\r
2152 \r
2153         if( pxNewTCB != NULL )\r
2154         {\r
2155                 /* Allocate space for the stack used by the task being created.\r
2156                 The base of the stack memory stored in the TCB so the task can\r
2157                 be deleted later if required. */\r
2158                 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );\r
2159 \r
2160                 if( pxNewTCB->pxStack == NULL )\r
2161                 {\r
2162                         /* Could not allocate the stack.  Delete the allocated TCB. */\r
2163                         vPortFree( pxNewTCB );\r
2164                         pxNewTCB = NULL;\r
2165                 }\r
2166                 else\r
2167                 {\r
2168                         /* Just to help debugging. */\r
2169                         memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );\r
2170                 }\r
2171         }\r
2172 \r
2173         return pxNewTCB;\r
2174 }\r
2175 /*-----------------------------------------------------------*/\r
2176 \r
2177 #if ( configUSE_TRACE_FACILITY == 1 )\r
2178 \r
2179         static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )\r
2180         {\r
2181         volatile tskTCB *pxNextTCB, *pxFirstTCB;\r
2182         unsigned short usStackRemaining;\r
2183 \r
2184                 /* Write the details of all the TCB's in pxList into the buffer. */\r
2185                 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );\r
2186                 do\r
2187                 {\r
2188                         listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );\r
2189                         #if ( portSTACK_GROWTH > 0 )\r
2190                         {\r
2191                                 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );\r
2192                         }\r
2193                         #else\r
2194                         {\r
2195                                 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );\r
2196                         }\r
2197                         #endif                  \r
2198                         \r
2199                         sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );\r
2200                         strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );\r
2201 \r
2202                 } while( pxNextTCB != pxFirstTCB );\r
2203         }\r
2204 \r
2205 #endif\r
2206 /*-----------------------------------------------------------*/\r
2207 \r
2208 #if ( configGENERATE_RUN_TIME_STATS == 1 )\r
2209 \r
2210         static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )\r
2211         {\r
2212         volatile tskTCB *pxNextTCB, *pxFirstTCB;\r
2213         unsigned long ulStatsAsPercentage;\r
2214 \r
2215                 /* Write the run time stats of all the TCB's in pxList into the buffer. */\r
2216                 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );\r
2217                 do\r
2218                 {\r
2219                         /* Get next TCB in from the list. */\r
2220                         listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );\r
2221 \r
2222                         /* Divide by zero check. */\r
2223                         if( ulTotalRunTime > 0UL )\r
2224                         {\r
2225                                 /* Has the task run at all? */\r
2226                                 if( pxNextTCB->ulRunTimeCounter == 0 )\r
2227                                 {\r
2228                                         /* The task has used no CPU time at all. */\r
2229                                         sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );\r
2230                                 }\r
2231                                 else\r
2232                                 {\r
2233                                         /* What percentage of the total run time has the task used?\r
2234                                         This will always be rounded down to the nearest integer.\r
2235                                         ulTotalRunTime has already been divided by 100. */\r
2236                                         ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime;\r
2237 \r
2238                                         if( ulStatsAsPercentage > 0UL )\r
2239                                         {\r
2240                                                 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED\r
2241                                                 {\r
2242                                                         sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );                                                 \r
2243                                                 }\r
2244                                                 #else\r
2245                                                 {\r
2246                                                         /* sizeof( int ) == sizeof( long ) so a smaller\r
2247                                                         printf() library can be used. */\r
2248                                                         sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );\r
2249                                                 }\r
2250                                                 #endif\r
2251                                         }\r
2252                                         else\r
2253                                         {\r
2254                                                 /* If the percentage is zero here then the task has\r
2255                                                 consumed less than 1% of the total run time. */\r
2256                                                 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED\r
2257                                                 {\r
2258                                                         sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );                                                       \r
2259                                                 }\r
2260                                                 #else\r
2261                                                 {\r
2262                                                         /* sizeof( int ) == sizeof( long ) so a smaller\r
2263                                                         printf() library can be used. */\r
2264                                                         sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );\r
2265                                                 }\r
2266                                                 #endif\r
2267                                         }\r
2268                                 }\r
2269 \r
2270                                 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );\r
2271                         }\r
2272 \r
2273                 } while( pxNextTCB != pxFirstTCB );\r
2274         }\r
2275 \r
2276 #endif\r
2277 /*-----------------------------------------------------------*/\r
2278 \r
2279 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )\r
2280 \r
2281         static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )\r
2282         {\r
2283         register unsigned short usCount = 0;\r
2284 \r
2285                 while( *pucStackByte == tskSTACK_FILL_BYTE )\r
2286                 {\r
2287                         pucStackByte -= portSTACK_GROWTH;\r
2288                         usCount++;\r
2289                 }\r
2290 \r
2291                 usCount /= sizeof( portSTACK_TYPE );\r
2292 \r
2293                 return usCount;\r
2294         }\r
2295 \r
2296 #endif\r
2297 /*-----------------------------------------------------------*/\r
2298 \r
2299 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )\r
2300 \r
2301         unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )\r
2302         {\r
2303         tskTCB *pxTCB;\r
2304         unsigned char *pcEndOfStack;\r
2305         unsigned portBASE_TYPE uxReturn;\r
2306 \r
2307                 pxTCB = prvGetTCBFromHandle( xTask );\r
2308 \r
2309                 #if portSTACK_GROWTH < 0\r
2310                 {\r
2311                         pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;\r
2312                 }\r
2313                 #else\r
2314                 {\r
2315                         pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;\r
2316                 }\r
2317                 #endif\r
2318 \r
2319                 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );\r
2320 \r
2321                 return uxReturn;\r
2322         }\r
2323 \r
2324 #endif\r
2325 /*-----------------------------------------------------------*/\r
2326 \r
2327 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )\r
2328 \r
2329         static void prvDeleteTCB( tskTCB *pxTCB )\r
2330         {\r
2331                 /* Free up the memory allocated by the scheduler for the task.  It is up to\r
2332                 the task to free any memory allocated at the application level. */\r
2333                 vPortFreeAligned( pxTCB->pxStack );\r
2334                 vPortFree( pxTCB );\r
2335         }\r
2336 \r
2337 #endif\r
2338 \r
2339 \r
2340 /*-----------------------------------------------------------*/\r
2341 \r
2342 #if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )\r
2343 \r
2344         xTaskHandle xTaskGetCurrentTaskHandle( void )\r
2345         {\r
2346         xTaskHandle xReturn;\r
2347 \r
2348                 /* A critical section is not required as this is not called from\r
2349                 an interrupt and the current TCB will always be the same for any\r
2350                 individual execution thread. */\r
2351                 xReturn = pxCurrentTCB;\r
2352 \r
2353                 return xReturn;\r
2354         }\r
2355 \r
2356 #endif\r
2357 \r
2358 /*-----------------------------------------------------------*/\r
2359 \r
2360 #if ( INCLUDE_xTaskGetSchedulerState == 1 )\r
2361 \r
2362         portBASE_TYPE xTaskGetSchedulerState( void )\r
2363         {\r
2364         portBASE_TYPE xReturn;\r
2365 \r
2366                 if( xSchedulerRunning == pdFALSE )\r
2367                 {\r
2368                         xReturn = taskSCHEDULER_NOT_STARTED;\r
2369                 }\r
2370                 else\r
2371                 {\r
2372                         if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )\r
2373                         {\r
2374                                 xReturn = taskSCHEDULER_RUNNING;\r
2375                         }\r
2376                         else\r
2377                         {\r
2378                                 xReturn = taskSCHEDULER_SUSPENDED;\r
2379                         }\r
2380                 }\r
2381 \r
2382                 return xReturn;\r
2383         }\r
2384 \r
2385 #endif\r
2386 /*-----------------------------------------------------------*/\r
2387 \r
2388 #if ( configUSE_MUTEXES == 1 )\r
2389 \r
2390         void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )\r
2391         {\r
2392         tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;\r
2393 \r
2394                 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )\r
2395                 {\r
2396                         /* Adjust the mutex holder state to account for its new priority. */\r
2397                         listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );\r
2398 \r
2399                         /* If the task being modified is in the ready state it will need to\r
2400                         be moved in to a new list. */\r
2401                         if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )\r
2402                         {\r
2403                                 vListRemove( &( pxTCB->xGenericListItem ) );\r
2404 \r
2405                                 /* Inherit the priority before being moved into the new list. */\r
2406                                 pxTCB->uxPriority = pxCurrentTCB->uxPriority;\r
2407                                 prvAddTaskToReadyQueue( pxTCB );\r
2408                         }\r
2409                         else\r
2410                         {\r
2411                                 /* Just inherit the priority. */\r
2412                                 pxTCB->uxPriority = pxCurrentTCB->uxPriority;\r
2413                         }\r
2414                 }\r
2415         }\r
2416 \r
2417 #endif\r
2418 /*-----------------------------------------------------------*/\r
2419 \r
2420 #if ( configUSE_MUTEXES == 1 )\r
2421 \r
2422         void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )\r
2423         {\r
2424         tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;\r
2425 \r
2426                 if( pxMutexHolder != NULL )\r
2427                 {\r
2428                         if( pxTCB->uxPriority != pxTCB->uxBasePriority )\r
2429                         {\r
2430                                 /* We must be the running task to be able to give the mutex back.\r
2431                                 Remove ourselves from the ready list we currently appear in. */\r
2432                                 vListRemove( &( pxTCB->xGenericListItem ) );\r
2433 \r
2434                                 /* Disinherit the priority before adding ourselves into the new\r
2435                                 ready list. */\r
2436                                 pxTCB->uxPriority = pxTCB->uxBasePriority;\r
2437                                 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );\r
2438                                 prvAddTaskToReadyQueue( pxTCB );\r
2439                         }\r
2440                 }\r
2441         }\r
2442 \r
2443 #endif\r
2444 /*-----------------------------------------------------------*/\r
2445 \r
2446 #if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
2447 \r
2448         void vTaskEnterCritical( void )\r
2449         {\r
2450                 portDISABLE_INTERRUPTS();\r
2451 \r
2452                 if( xSchedulerRunning != pdFALSE )\r
2453                 {\r
2454                         ( pxCurrentTCB->uxCriticalNesting )++;\r
2455                 }\r
2456         }\r
2457 \r
2458 #endif\r
2459 /*-----------------------------------------------------------*/\r
2460 \r
2461 #if ( portCRITICAL_NESTING_IN_TCB == 1 )\r
2462 \r
2463 void vTaskExitCritical( void )\r
2464 {\r
2465         if( xSchedulerRunning != pdFALSE )\r
2466         {\r
2467                 if( pxCurrentTCB->uxCriticalNesting > 0 )\r
2468                 {\r
2469                         ( pxCurrentTCB->uxCriticalNesting )--;\r
2470 \r
2471                         if( pxCurrentTCB->uxCriticalNesting == 0 )\r
2472                         {\r
2473                                 portENABLE_INTERRUPTS();\r
2474                         }\r
2475                 }\r
2476         }\r
2477 }\r
2478 \r
2479 #endif\r
2480 /*-----------------------------------------------------------*/\r
2481 \r
2482 \r
2483 \r
2484 \r