2 FreeRTOS V7.0.2 - Copyright (C) 2011 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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59 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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60 all the API functions to use the MPU wrappers. That should only be done when
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61 task.h is included from an application file. */
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62 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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64 #include "FreeRTOS.h"
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67 #include "StackMacros.h"
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69 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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72 * Macro to define the amount of stack available to the idle task.
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74 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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77 * Task control block. A task control block (TCB) is allocated to each task,
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78 * and stores the context of the task.
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80 typedef struct tskTaskControlBlock
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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. */
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84 #if ( portUSING_MPU_WRAPPERS == 1 )
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85 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE STRUCT. */
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88 xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
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89 xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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90 unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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91 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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92 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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94 #if ( portSTACK_GROWTH > 0 )
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95 portSTACK_TYPE *pxEndOfStack; /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
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98 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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99 unsigned portBASE_TYPE uxCriticalNesting;
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102 #if ( configUSE_TRACE_FACILITY == 1 )
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103 unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
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106 #if ( configUSE_MUTEXES == 1 )
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107 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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110 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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111 pdTASK_HOOK_CODE pxTaskTag;
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114 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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115 unsigned long ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
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122 * Some kernel aware debuggers require data to be viewed to be global, rather
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125 #ifdef portREMOVE_STATIC_QUALIFIER
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130 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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132 /* Lists for ready and blocked tasks. --------------------*/
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134 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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135 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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136 PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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137 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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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. */
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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. */
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141 #if ( INCLUDE_vTaskDelete == 1 )
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143 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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144 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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148 #if ( INCLUDE_vTaskSuspend == 1 )
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150 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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154 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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156 PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL;
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160 /* File private variables. --------------------------------*/
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161 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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162 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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163 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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164 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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165 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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166 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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167 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0U;
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168 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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169 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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170 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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171 PRIVILEGED_DATA static portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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173 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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175 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
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176 PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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177 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
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181 /* Debugging and trace facilities private variables and macros. ------------*/
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184 * The value used to fill the stack of a task when the task is created. This
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185 * is used purely for checking the high water mark for tasks.
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187 #define tskSTACK_FILL_BYTE ( 0xa5U )
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190 * Macros used by vListTask to indicate which state a task is in.
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192 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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193 #define tskREADY_CHAR ( ( signed char ) 'R' )
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194 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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195 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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198 * Macros and private variables used by the trace facility.
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200 #if ( configUSE_TRACE_FACILITY == 1 )
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202 #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned long ) ( sizeof( unsigned long ) + sizeof( unsigned long ) ) )
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203 PRIVILEGED_DATA static volatile signed char * volatile pcTraceBuffer;
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204 PRIVILEGED_DATA static signed char *pcTraceBufferStart;
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205 PRIVILEGED_DATA static signed char *pcTraceBufferEnd;
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206 PRIVILEGED_DATA static signed portBASE_TYPE xTracing = pdFALSE;
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207 static unsigned portBASE_TYPE uxPreviousTask = 255U;
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208 PRIVILEGED_DATA static char pcStatusString[ 50 ];
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212 /*-----------------------------------------------------------*/
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215 * Macro that writes a trace of scheduler activity to a buffer. This trace
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216 * shows which task is running when and is very useful as a debugging tool.
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217 * As this macro is called each context switch it is a good idea to undefine
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218 * it if not using the facility.
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220 #if ( configUSE_TRACE_FACILITY == 1 )
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222 #define vWriteTraceToBuffer() \
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224 if( xTracing != pdFALSE ) \
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226 if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
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228 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
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230 uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
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231 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) xTickCount; \
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232 pcTraceBuffer += sizeof( unsigned long ); \
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233 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) uxPreviousTask; \
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234 pcTraceBuffer += sizeof( unsigned long ); \
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238 xTracing = pdFALSE; \
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246 #define vWriteTraceToBuffer()
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249 /*-----------------------------------------------------------*/
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252 * Place the task represented by pxTCB into the appropriate ready queue for
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253 * the task. It is inserted at the end of the list. One quirk of this is
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254 * that if the task being inserted is at the same priority as the currently
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255 * executing task, then it will only be rescheduled after the currently
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256 * executing task has been rescheduled.
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258 #define prvAddTaskToReadyQueue( pxTCB ) \
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259 if( ( pxTCB )->uxPriority > uxTopReadyPriority ) \
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261 uxTopReadyPriority = ( pxTCB )->uxPriority; \
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263 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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264 /*-----------------------------------------------------------*/
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267 * Macro that looks at the list of tasks that are currently delayed to see if
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268 * any require waking.
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270 * Tasks are stored in the queue in the order of their wake time - meaning
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271 * once one tasks has been found whose timer has not expired we need not look
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272 * any further down the list.
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274 #define prvCheckDelayedTasks() \
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276 portTickType xItemValue; \
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278 /* Is the tick count greater than or equal to the wake time of the first \
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279 task referenced from the delayed tasks list? */ \
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280 if( xTickCount >= xNextTaskUnblockTime ) \
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284 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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286 /* The delayed list is empty. Set xNextTaskUnblockTime to the \
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287 maximum possible value so it is extremely unlikely that the \
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288 if( xTickCount >= xNextTaskUnblockTime ) test will pass next \
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290 xNextTaskUnblockTime = portMAX_DELAY; \
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295 /* The delayed list is not empty, get the value of the item at \
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296 the head of the delayed list. This is the time at which the \
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297 task at the head of the delayed list should be removed from \
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298 the Blocked state. */ \
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299 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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300 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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302 if( xTickCount < xItemValue ) \
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304 /* It is not time to unblock this item yet, but the item \
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305 value is the time at which the task at the head of the \
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306 blocked list should be removed from the Blocked state - \
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307 so record the item value in xNextTaskUnblockTime. */ \
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308 xNextTaskUnblockTime = xItemValue; \
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312 /* It is time to remove the item from the Blocked state. */ \
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313 vListRemove( &( pxTCB->xGenericListItem ) ); \
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315 /* Is the task waiting on an event also? */ \
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316 if( pxTCB->xEventListItem.pvContainer != NULL ) \
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318 vListRemove( &( pxTCB->xEventListItem ) ); \
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320 prvAddTaskToReadyQueue( pxTCB ); \
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325 /*-----------------------------------------------------------*/
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328 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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329 * where NULL is used to indicate that the handle of the currently executing
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330 * task should be used in place of the parameter. This macro simply checks to
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331 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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333 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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335 /* Callback function prototypes. --------------------------*/
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336 extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );
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337 extern void vApplicationTickHook( void );
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339 /* File private functions. --------------------------------*/
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342 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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343 * into the TCB structure.
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345 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
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348 * Utility to ready all the lists used by the scheduler. This is called
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349 * automatically upon the creation of the first task.
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351 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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354 * The idle task, which as all tasks is implemented as a never ending loop.
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355 * The idle task is automatically created and added to the ready lists upon
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356 * creation of the first user task.
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358 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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359 * language extensions. The equivalent prototype for this function is:
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361 * void prvIdleTask( void *pvParameters );
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364 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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367 * Utility to free all memory allocated by the scheduler to hold a TCB,
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368 * including the stack pointed to by the TCB.
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370 * This does not free memory allocated by the task itself (i.e. memory
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371 * allocated by calls to pvPortMalloc from within the tasks application code).
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373 #if ( INCLUDE_vTaskDelete == 1 )
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375 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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380 * Used only by the idle task. This checks to see if anything has been placed
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381 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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382 * and its TCB deleted.
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384 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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387 * The currently executing task is entering the Blocked state. Add the task to
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388 * either the current or the overflow delayed task list.
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390 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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393 * Allocates memory from the heap for a TCB and associated stack. Checks the
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394 * allocation was successful.
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396 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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399 * Called from vTaskList. vListTasks details all the tasks currently under
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400 * control of the scheduler. The tasks may be in one of a number of lists.
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401 * prvListTaskWithinSingleList accepts a list and details the tasks from
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402 * within just that list.
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404 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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405 * NORMAL APPLICATION CODE.
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407 #if ( configUSE_TRACE_FACILITY == 1 )
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409 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
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414 * When a task is created, the stack of the task is filled with a known value.
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415 * This function determines the 'high water mark' of the task stack by
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416 * determining how much of the stack remains at the original preset value.
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418 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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420 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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429 /*-----------------------------------------------------------
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430 * TASK CREATION API documented in task.h
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431 *----------------------------------------------------------*/
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433 signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
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435 signed portBASE_TYPE xReturn;
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438 configASSERT( pxTaskCode );
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439 configASSERT( ( uxPriority < configMAX_PRIORITIES ) );
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441 /* Allocate the memory required by the TCB and stack for the new task,
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442 checking that the allocation was successful. */
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443 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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445 if( pxNewTCB != NULL )
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447 portSTACK_TYPE *pxTopOfStack;
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449 #if( portUSING_MPU_WRAPPERS == 1 )
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450 /* Should the task be created in privileged mode? */
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451 portBASE_TYPE xRunPrivileged;
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452 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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454 xRunPrivileged = pdTRUE;
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458 xRunPrivileged = pdFALSE;
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460 uxPriority &= ~portPRIVILEGE_BIT;
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461 #endif /* portUSING_MPU_WRAPPERS == 1 */
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463 /* Calculate the top of stack address. This depends on whether the
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464 stack grows from high memory to low (as per the 80x86) or visa versa.
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465 portSTACK_GROWTH is used to make the result positive or negative as
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466 required by the port. */
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467 #if( portSTACK_GROWTH < 0 )
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469 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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470 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
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472 /* Check the alignment of the calculated top of stack is correct. */
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473 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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477 pxTopOfStack = pxNewTCB->pxStack;
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479 /* Check the alignment of the stack buffer is correct. */
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480 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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482 /* If we want to use stack checking on architectures that use
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483 a positive stack growth direction then we also need to store the
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484 other extreme of the stack space. */
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485 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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489 /* Setup the newly allocated TCB with the initial state of the task. */
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490 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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492 /* Initialize the TCB stack to look as if the task was already running,
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493 but had been interrupted by the scheduler. The return address is set
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494 to the start of the task function. Once the stack has been initialised
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495 the top of stack variable is updated. */
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496 #if( portUSING_MPU_WRAPPERS == 1 )
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498 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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502 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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506 /* Check the alignment of the initialised stack. */
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507 portALIGNMENT_ASSERT_pxCurrentTCB( ( ( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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509 if( ( void * ) pxCreatedTask != NULL )
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511 /* Pass the TCB out - in an anonymous way. The calling function/
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512 task can use this as a handle to delete the task later if
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514 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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517 /* We are going to manipulate the task queues to add this task to a
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518 ready list, so must make sure no interrupts occur. */
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519 taskENTER_CRITICAL();
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521 uxCurrentNumberOfTasks++;
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522 if( pxCurrentTCB == NULL )
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524 /* There are no other tasks, or all the other tasks are in
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525 the suspended state - make this the current task. */
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526 pxCurrentTCB = pxNewTCB;
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528 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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530 /* This is the first task to be created so do the preliminary
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531 initialisation required. We will not recover if this call
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532 fails, but we will report the failure. */
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533 prvInitialiseTaskLists();
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538 /* If the scheduler is not already running, make this task the
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539 current task if it is the highest priority task to be created
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541 if( xSchedulerRunning == pdFALSE )
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543 if( pxCurrentTCB->uxPriority <= uxPriority )
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545 pxCurrentTCB = pxNewTCB;
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550 /* Remember the top priority to make context switching faster. Use
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551 the priority in pxNewTCB as this has been capped to a valid value. */
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552 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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554 uxTopUsedPriority = pxNewTCB->uxPriority;
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557 #if ( configUSE_TRACE_FACILITY == 1 )
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559 /* Add a counter into the TCB for tracing only. */
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560 pxNewTCB->uxTCBNumber = uxTaskNumber;
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565 prvAddTaskToReadyQueue( pxNewTCB );
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568 traceTASK_CREATE( pxNewTCB );
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570 taskEXIT_CRITICAL();
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574 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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575 traceTASK_CREATE_FAILED();
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578 if( xReturn == pdPASS )
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580 if( xSchedulerRunning != pdFALSE )
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582 /* If the created task is of a higher priority than the current task
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583 then it should run now. */
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584 if( pxCurrentTCB->uxPriority < uxPriority )
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586 portYIELD_WITHIN_API();
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593 /*-----------------------------------------------------------*/
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595 #if ( INCLUDE_vTaskDelete == 1 )
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597 void vTaskDelete( xTaskHandle pxTaskToDelete )
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601 taskENTER_CRITICAL();
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603 /* Ensure a yield is performed if the current task is being
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605 if( pxTaskToDelete == pxCurrentTCB )
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607 pxTaskToDelete = NULL;
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610 /* If null is passed in here then we are deleting ourselves. */
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611 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
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613 /* Remove task from the ready list and place in the termination list.
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614 This will stop the task from be scheduled. The idle task will check
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615 the termination list and free up any memory allocated by the
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616 scheduler for the TCB and stack. */
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617 vListRemove( &( pxTCB->xGenericListItem ) );
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619 /* Is the task waiting on an event also? */
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620 if( pxTCB->xEventListItem.pvContainer != NULL )
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622 vListRemove( &( pxTCB->xEventListItem ) );
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625 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
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627 /* Increment the ucTasksDeleted variable so the idle task knows
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628 there is a task that has been deleted and that it should therefore
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629 check the xTasksWaitingTermination list. */
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632 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
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633 can detect that the task lists need re-generating. */
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636 traceTASK_DELETE( pxTCB );
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638 taskEXIT_CRITICAL();
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640 /* Force a reschedule if we have just deleted the current task. */
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641 if( xSchedulerRunning != pdFALSE )
\r
643 if( ( void * ) pxTaskToDelete == NULL )
\r
645 portYIELD_WITHIN_API();
\r
657 /*-----------------------------------------------------------
\r
658 * TASK CONTROL API documented in task.h
\r
659 *----------------------------------------------------------*/
\r
661 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
663 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
665 portTickType xTimeToWake;
\r
666 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
668 configASSERT( pxPreviousWakeTime );
\r
669 configASSERT( ( xTimeIncrement > 0U ) );
\r
673 /* Generate the tick time at which the task wants to wake. */
\r
674 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
676 if( xTickCount < *pxPreviousWakeTime )
\r
678 /* The tick count has overflowed since this function was
\r
679 lasted called. In this case the only time we should ever
\r
680 actually delay is if the wake time has also overflowed,
\r
681 and the wake time is greater than the tick time. When this
\r
682 is the case it is as if neither time had overflowed. */
\r
683 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
685 xShouldDelay = pdTRUE;
\r
690 /* The tick time has not overflowed. In this case we will
\r
691 delay if either the wake time has overflowed, and/or the
\r
692 tick time is less than the wake time. */
\r
693 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
695 xShouldDelay = pdTRUE;
\r
699 /* Update the wake time ready for the next call. */
\r
700 *pxPreviousWakeTime = xTimeToWake;
\r
702 if( xShouldDelay != pdFALSE )
\r
704 traceTASK_DELAY_UNTIL();
\r
706 /* We must remove ourselves from the ready list before adding
\r
707 ourselves to the blocked list as the same list item is used for
\r
709 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
710 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
713 xAlreadyYielded = xTaskResumeAll();
\r
715 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
716 have put ourselves to sleep. */
\r
717 if( xAlreadyYielded == pdFALSE )
\r
719 portYIELD_WITHIN_API();
\r
724 /*-----------------------------------------------------------*/
\r
726 #if ( INCLUDE_vTaskDelay == 1 )
\r
728 void vTaskDelay( portTickType xTicksToDelay )
\r
730 portTickType xTimeToWake;
\r
731 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
733 /* A delay time of zero just forces a reschedule. */
\r
734 if( xTicksToDelay > ( portTickType ) 0U )
\r
740 /* A task that is removed from the event list while the
\r
741 scheduler is suspended will not get placed in the ready
\r
742 list or removed from the blocked list until the scheduler
\r
745 This task cannot be in an event list as it is the currently
\r
748 /* Calculate the time to wake - this may overflow but this is
\r
750 xTimeToWake = xTickCount + xTicksToDelay;
\r
752 /* We must remove ourselves from the ready list before adding
\r
753 ourselves to the blocked list as the same list item is used for
\r
755 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
756 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
758 xAlreadyYielded = xTaskResumeAll();
\r
761 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
762 have put ourselves to sleep. */
\r
763 if( xAlreadyYielded == pdFALSE )
\r
765 portYIELD_WITHIN_API();
\r
770 /*-----------------------------------------------------------*/
\r
772 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
774 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
777 unsigned portBASE_TYPE uxReturn;
\r
779 taskENTER_CRITICAL();
\r
781 /* If null is passed in here then we are changing the
\r
782 priority of the calling function. */
\r
783 pxTCB = prvGetTCBFromHandle( pxTask );
\r
784 uxReturn = pxTCB->uxPriority;
\r
786 taskEXIT_CRITICAL();
\r
792 /*-----------------------------------------------------------*/
\r
794 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
796 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
799 unsigned portBASE_TYPE uxCurrentPriority;
\r
800 portBASE_TYPE xYieldRequired = pdFALSE;
\r
802 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
804 /* Ensure the new priority is valid. */
\r
805 if( uxNewPriority >= configMAX_PRIORITIES )
\r
807 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
810 taskENTER_CRITICAL();
\r
812 if( pxTask == pxCurrentTCB )
\r
817 /* If null is passed in here then we are changing the
\r
818 priority of the calling function. */
\r
819 pxTCB = prvGetTCBFromHandle( pxTask );
\r
821 traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
\r
823 #if ( configUSE_MUTEXES == 1 )
\r
825 uxCurrentPriority = pxTCB->uxBasePriority;
\r
829 uxCurrentPriority = pxTCB->uxPriority;
\r
833 if( uxCurrentPriority != uxNewPriority )
\r
835 /* The priority change may have readied a task of higher
\r
836 priority than the calling task. */
\r
837 if( uxNewPriority > uxCurrentPriority )
\r
839 if( pxTask != NULL )
\r
841 /* The priority of another task is being raised. If we
\r
842 were raising the priority of the currently running task
\r
843 there would be no need to switch as it must have already
\r
844 been the highest priority task. */
\r
845 xYieldRequired = pdTRUE;
\r
848 else if( pxTask == NULL )
\r
850 /* Setting our own priority down means there may now be another
\r
851 task of higher priority that is ready to execute. */
\r
852 xYieldRequired = pdTRUE;
\r
857 #if ( configUSE_MUTEXES == 1 )
\r
859 /* Only change the priority being used if the task is not
\r
860 currently using an inherited priority. */
\r
861 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
863 pxTCB->uxPriority = uxNewPriority;
\r
866 /* The base priority gets set whatever. */
\r
867 pxTCB->uxBasePriority = uxNewPriority;
\r
871 pxTCB->uxPriority = uxNewPriority;
\r
875 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
877 /* If the task is in the blocked or suspended list we need do
\r
878 nothing more than change it's priority variable. However, if
\r
879 the task is in a ready list it needs to be removed and placed
\r
880 in the queue appropriate to its new priority. */
\r
881 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
883 /* The task is currently in its ready list - remove before adding
\r
884 it to it's new ready list. As we are in a critical section we
\r
885 can do this even if the scheduler is suspended. */
\r
886 vListRemove( &( pxTCB->xGenericListItem ) );
\r
887 prvAddTaskToReadyQueue( pxTCB );
\r
890 if( xYieldRequired == pdTRUE )
\r
892 portYIELD_WITHIN_API();
\r
896 taskEXIT_CRITICAL();
\r
900 /*-----------------------------------------------------------*/
\r
902 #if ( INCLUDE_vTaskSuspend == 1 )
\r
904 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
908 taskENTER_CRITICAL();
\r
910 /* Ensure a yield is performed if the current task is being
\r
912 if( pxTaskToSuspend == pxCurrentTCB )
\r
914 pxTaskToSuspend = NULL;
\r
917 /* If null is passed in here then we are suspending ourselves. */
\r
918 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
920 traceTASK_SUSPEND( pxTCB );
\r
922 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
923 vListRemove( &( pxTCB->xGenericListItem ) );
\r
925 /* Is the task waiting on an event also? */
\r
926 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
928 vListRemove( &( pxTCB->xEventListItem ) );
\r
931 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
933 taskEXIT_CRITICAL();
\r
935 if( ( void * ) pxTaskToSuspend == NULL )
\r
937 if( xSchedulerRunning != pdFALSE )
\r
939 /* We have just suspended the current task. */
\r
940 portYIELD_WITHIN_API();
\r
944 /* The scheduler is not running, but the task that was pointed
\r
945 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
946 must be adjusted to point to a different task. */
\r
947 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
949 /* No other tasks are ready, so set pxCurrentTCB back to
\r
950 NULL so when the next task is created pxCurrentTCB will
\r
951 be set to point to it no matter what its relative priority
\r
953 pxCurrentTCB = NULL;
\r
957 vTaskSwitchContext();
\r
964 /*-----------------------------------------------------------*/
\r
966 #if ( INCLUDE_vTaskSuspend == 1 )
\r
968 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
970 portBASE_TYPE xReturn = pdFALSE;
\r
971 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
973 /* It does not make sense to check if the calling task is suspended. */
\r
974 configASSERT( xTask );
\r
976 /* Is the task we are attempting to resume actually in the
\r
978 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
980 /* Has the task already been resumed from within an ISR? */
\r
981 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
983 /* Is it in the suspended list because it is in the
\r
984 Suspended state? It is possible to be in the suspended
\r
985 list because it is blocked on a task with no timeout
\r
987 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
998 /*-----------------------------------------------------------*/
\r
1000 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1002 void vTaskResume( xTaskHandle pxTaskToResume )
\r
1006 /* It does not make sense to resume the calling task. */
\r
1007 configASSERT( pxTaskToResume );
\r
1009 /* Remove the task from whichever list it is currently in, and place
\r
1010 it in the ready list. */
\r
1011 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1013 /* The parameter cannot be NULL as it is impossible to resume the
\r
1014 currently executing task. */
\r
1015 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1017 taskENTER_CRITICAL();
\r
1019 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1021 traceTASK_RESUME( pxTCB );
\r
1023 /* As we are in a critical section we can access the ready
\r
1024 lists even if the scheduler is suspended. */
\r
1025 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1026 prvAddTaskToReadyQueue( pxTCB );
\r
1028 /* We may have just resumed a higher priority task. */
\r
1029 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1031 /* This yield may not cause the task just resumed to run, but
\r
1032 will leave the lists in the correct state for the next yield. */
\r
1033 portYIELD_WITHIN_API();
\r
1037 taskEXIT_CRITICAL();
\r
1043 /*-----------------------------------------------------------*/
\r
1045 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1047 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
1049 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1051 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1053 configASSERT( pxTaskToResume );
\r
1055 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1057 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1059 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1061 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1063 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1065 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1066 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1067 prvAddTaskToReadyQueue( pxTCB );
\r
1071 /* We cannot access the delayed or ready lists, so will hold this
\r
1072 task pending until the scheduler is resumed, at which point a
\r
1073 yield will be performed if necessary. */
\r
1074 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1078 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1080 return xYieldRequired;
\r
1088 /*-----------------------------------------------------------
\r
1089 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1090 *----------------------------------------------------------*/
\r
1093 void vTaskStartScheduler( void )
\r
1095 portBASE_TYPE xReturn;
\r
1097 /* Add the idle task at the lowest priority. */
\r
1098 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1100 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1101 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1102 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );
\r
1106 /* Create the idle task without storing its handle. */
\r
1107 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
\r
1111 #if ( configUSE_TIMERS == 1 )
\r
1113 if( xReturn == pdPASS )
\r
1115 xReturn = xTimerCreateTimerTask();
\r
1120 if( xReturn == pdPASS )
\r
1122 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1123 before or during the call to xPortStartScheduler(). The stacks of
\r
1124 the created tasks contain a status word with interrupts switched on
\r
1125 so interrupts will automatically get re-enabled when the first task
\r
1128 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1129 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1130 portDISABLE_INTERRUPTS();
\r
1132 xSchedulerRunning = pdTRUE;
\r
1133 xTickCount = ( portTickType ) 0U;
\r
1135 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1136 macro must be defined to configure the timer/counter used to generate
\r
1137 the run time counter time base. */
\r
1138 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1140 /* Setting up the timer tick is hardware specific and thus in the
\r
1141 portable interface. */
\r
1142 if( xPortStartScheduler() != pdFALSE )
\r
1144 /* Should not reach here as if the scheduler is running the
\r
1145 function will not return. */
\r
1149 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1153 /* This line will only be reached if the kernel could not be started. */
\r
1154 configASSERT( xReturn );
\r
1156 /*-----------------------------------------------------------*/
\r
1158 void vTaskEndScheduler( void )
\r
1160 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1161 routine so the original ISRs can be restored if necessary. The port
\r
1162 layer must ensure interrupts enable bit is left in the correct state. */
\r
1163 portDISABLE_INTERRUPTS();
\r
1164 xSchedulerRunning = pdFALSE;
\r
1165 vPortEndScheduler();
\r
1167 /*----------------------------------------------------------*/
\r
1169 void vTaskSuspendAll( void )
\r
1171 /* A critical section is not required as the variable is of type
\r
1173 ++uxSchedulerSuspended;
\r
1175 /*----------------------------------------------------------*/
\r
1177 signed portBASE_TYPE xTaskResumeAll( void )
\r
1179 register tskTCB *pxTCB;
\r
1180 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1182 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1183 previous call to vTaskSuspendAll(). */
\r
1184 configASSERT( uxSchedulerSuspended );
\r
1186 /* It is possible that an ISR caused a task to be removed from an event
\r
1187 list while the scheduler was suspended. If this was the case then the
\r
1188 removed task will have been added to the xPendingReadyList. Once the
\r
1189 scheduler has been resumed it is safe to move all the pending ready
\r
1190 tasks from this list into their appropriate ready list. */
\r
1191 taskENTER_CRITICAL();
\r
1193 --uxSchedulerSuspended;
\r
1195 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1197 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1199 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1201 /* Move any readied tasks from the pending list into the
\r
1202 appropriate ready list. */
\r
1203 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1205 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1206 vListRemove( &( pxTCB->xEventListItem ) );
\r
1207 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1208 prvAddTaskToReadyQueue( pxTCB );
\r
1210 /* If we have moved a task that has a priority higher than
\r
1211 the current task then we should yield. */
\r
1212 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1214 xYieldRequired = pdTRUE;
\r
1218 /* If any ticks occurred while the scheduler was suspended then
\r
1219 they should be processed now. This ensures the tick count does not
\r
1220 slip, and that any delayed tasks are resumed at the correct time. */
\r
1221 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1223 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1225 vTaskIncrementTick();
\r
1229 /* As we have processed some ticks it is appropriate to yield
\r
1230 to ensure the highest priority task that is ready to run is
\r
1231 the task actually running. */
\r
1232 #if configUSE_PREEMPTION == 1
\r
1234 xYieldRequired = pdTRUE;
\r
1239 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1241 xAlreadyYielded = pdTRUE;
\r
1242 xMissedYield = pdFALSE;
\r
1243 portYIELD_WITHIN_API();
\r
1248 taskEXIT_CRITICAL();
\r
1250 return xAlreadyYielded;
\r
1258 /*-----------------------------------------------------------
\r
1259 * PUBLIC TASK UTILITIES documented in task.h
\r
1260 *----------------------------------------------------------*/
\r
1264 portTickType xTaskGetTickCount( void )
\r
1266 portTickType xTicks;
\r
1268 /* Critical section required if running on a 16 bit processor. */
\r
1269 taskENTER_CRITICAL();
\r
1271 xTicks = xTickCount;
\r
1273 taskEXIT_CRITICAL();
\r
1277 /*-----------------------------------------------------------*/
\r
1279 portTickType xTaskGetTickCountFromISR( void )
\r
1281 portTickType xReturn;
\r
1282 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1284 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1285 xReturn = xTickCount;
\r
1286 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1290 /*-----------------------------------------------------------*/
\r
1292 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1294 /* A critical section is not required because the variables are of type
\r
1296 return uxCurrentNumberOfTasks;
\r
1298 /*-----------------------------------------------------------*/
\r
1300 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1302 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1306 /* If null is passed in here then the name of the calling task is being queried. */
\r
1307 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1308 configASSERT( pxTCB );
\r
1309 return &( pxTCB->pcTaskName[ 0 ] );
\r
1313 /*-----------------------------------------------------------*/
\r
1315 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1317 void vTaskList( signed char *pcWriteBuffer )
\r
1319 unsigned portBASE_TYPE uxQueue;
\r
1321 /* This is a VERY costly function that should be used for debug only.
\r
1322 It leaves interrupts disabled for a LONG time. */
\r
1324 vTaskSuspendAll();
\r
1326 /* Run through all the lists that could potentially contain a TCB and
\r
1327 report the task name, state and stack high water mark. */
\r
1329 *pcWriteBuffer = ( signed char ) 0x00;
\r
1330 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1332 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1338 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1340 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1342 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1344 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1346 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1349 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1351 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1354 #if( INCLUDE_vTaskDelete == 1 )
\r
1356 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1358 prvListTaskWithinSingleList( pcWriteBuffer, &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1363 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1365 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1367 prvListTaskWithinSingleList( pcWriteBuffer, &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1376 /*----------------------------------------------------------*/
\r
1378 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1380 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1382 unsigned portBASE_TYPE uxQueue;
\r
1383 unsigned long ulTotalRunTime;
\r
1385 /* This is a VERY costly function that should be used for debug only.
\r
1386 It leaves interrupts disabled for a LONG time. */
\r
1388 vTaskSuspendAll();
\r
1390 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1391 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1393 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1396 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1397 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1398 ulTotalRunTime /= 100UL;
\r
1400 /* Run through all the lists that could potentially contain a TCB,
\r
1401 generating a table of run timer percentages in the provided
\r
1404 *pcWriteBuffer = ( signed char ) 0x00;
\r
1405 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1407 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1413 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1415 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
\r
1417 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1419 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1421 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
\r
1424 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1426 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
\r
1429 #if ( INCLUDE_vTaskDelete == 1 )
\r
1431 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1433 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTime );
\r
1438 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1440 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1442 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTime );
\r
1451 /*----------------------------------------------------------*/
\r
1453 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1455 void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize )
\r
1457 configASSERT( pcBuffer );
\r
1458 configASSERT( ulBufferSize );
\r
1460 taskENTER_CRITICAL();
\r
1462 pcTraceBuffer = ( signed char * )pcBuffer;
\r
1463 pcTraceBufferStart = pcBuffer;
\r
1464 pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
\r
1465 xTracing = pdTRUE;
\r
1467 taskEXIT_CRITICAL();
\r
1471 /*----------------------------------------------------------*/
\r
1473 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1475 unsigned long ulTaskEndTrace( void )
\r
1477 unsigned long ulBufferLength;
\r
1479 taskENTER_CRITICAL();
\r
1480 xTracing = pdFALSE;
\r
1481 taskEXIT_CRITICAL();
\r
1483 ulBufferLength = ( unsigned long ) ( pcTraceBuffer - pcTraceBufferStart );
\r
1485 return ulBufferLength;
\r
1489 /*----------------------------------------------------------*/
\r
1491 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1493 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1495 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1496 started, then xIdleTaskHandle will be NULL. */
\r
1497 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1498 return xIdleTaskHandle;
\r
1503 /*-----------------------------------------------------------
\r
1504 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1505 * documented in task.h
\r
1506 *----------------------------------------------------------*/
\r
1508 void vTaskIncrementTick( void )
\r
1512 /* Called by the portable layer each time a tick interrupt occurs.
\r
1513 Increments the tick then checks to see if the new tick value will cause any
\r
1514 tasks to be unblocked. */
\r
1515 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1518 if( xTickCount == ( portTickType ) 0U )
\r
1522 /* Tick count has overflowed so we need to swap the delay lists.
\r
1523 If there are any items in pxDelayedTaskList here then there is
\r
1525 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );
\r
1527 pxTemp = pxDelayedTaskList;
\r
1528 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1529 pxOverflowDelayedTaskList = pxTemp;
\r
1530 xNumOfOverflows++;
\r
1532 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1534 /* The new current delayed list is empty. Set
\r
1535 xNextTaskUnblockTime to the maximum possible value so it is
\r
1536 extremely unlikely that the
\r
1537 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
1538 there is an item in the delayed list. */
\r
1539 xNextTaskUnblockTime = portMAX_DELAY;
\r
1543 /* The new current delayed list is not empty, get the value of
\r
1544 the item at the head of the delayed list. This is the time at
\r
1545 which the task at the head of the delayed list should be removed
\r
1546 from the Blocked state. */
\r
1547 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1548 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1552 /* See if this tick has made a timeout expire. */
\r
1553 prvCheckDelayedTasks();
\r
1559 /* The tick hook gets called at regular intervals, even if the
\r
1560 scheduler is locked. */
\r
1561 #if ( configUSE_TICK_HOOK == 1 )
\r
1563 vApplicationTickHook();
\r
1568 #if ( configUSE_TICK_HOOK == 1 )
\r
1570 /* Guard against the tick hook being called when the missed tick
\r
1571 count is being unwound (when the scheduler is being unlocked. */
\r
1572 if( uxMissedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1574 vApplicationTickHook();
\r
1579 traceTASK_INCREMENT_TICK( xTickCount );
\r
1581 /*-----------------------------------------------------------*/
\r
1583 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1585 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1589 /* If xTask is NULL then we are setting our own task hook. */
\r
1590 if( xTask == NULL )
\r
1592 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1596 xTCB = ( tskTCB * ) xTask;
\r
1599 /* Save the hook function in the TCB. A critical section is required as
\r
1600 the value can be accessed from an interrupt. */
\r
1601 taskENTER_CRITICAL();
\r
1602 xTCB->pxTaskTag = pxHookFunction;
\r
1603 taskEXIT_CRITICAL();
\r
1607 /*-----------------------------------------------------------*/
\r
1609 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1611 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1614 pdTASK_HOOK_CODE xReturn;
\r
1616 /* If xTask is NULL then we are setting our own task hook. */
\r
1617 if( xTask == NULL )
\r
1619 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1623 xTCB = ( tskTCB * ) xTask;
\r
1626 /* Save the hook function in the TCB. A critical section is required as
\r
1627 the value can be accessed from an interrupt. */
\r
1628 taskENTER_CRITICAL();
\r
1629 xReturn = xTCB->pxTaskTag;
\r
1630 taskEXIT_CRITICAL();
\r
1636 /*-----------------------------------------------------------*/
\r
1638 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1640 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1643 portBASE_TYPE xReturn;
\r
1645 /* If xTask is NULL then we are calling our own task hook. */
\r
1646 if( xTask == NULL )
\r
1648 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1652 xTCB = ( tskTCB * ) xTask;
\r
1655 if( xTCB->pxTaskTag != NULL )
\r
1657 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1668 /*-----------------------------------------------------------*/
\r
1670 void vTaskSwitchContext( void )
\r
1672 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1674 /* The scheduler is currently suspended - do not allow a context
\r
1676 xMissedYield = pdTRUE;
\r
1680 traceTASK_SWITCHED_OUT();
\r
1682 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1684 unsigned long ulTempCounter;
\r
1686 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1687 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter );
\r
1689 ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
\r
1692 /* Add the amount of time the task has been running to the accumulated
\r
1693 time so far. The time the task started running was stored in
\r
1694 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1695 so count values are only valid until the timer overflows. Generally
\r
1696 this will be about 1 hour assuming a 1uS timer increment. */
\r
1697 pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
\r
1698 ulTaskSwitchedInTime = ulTempCounter;
\r
1702 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1703 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1705 /* Find the highest priority queue that contains ready tasks. */
\r
1706 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1708 configASSERT( uxTopReadyPriority );
\r
1709 --uxTopReadyPriority;
\r
1712 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1713 same priority get an equal share of the processor time. */
\r
1714 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1716 traceTASK_SWITCHED_IN();
\r
1717 vWriteTraceToBuffer();
\r
1720 /*-----------------------------------------------------------*/
\r
1722 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1724 portTickType xTimeToWake;
\r
1726 configASSERT( pxEventList );
\r
1728 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1729 SCHEDULER SUSPENDED. */
\r
1731 /* Place the event list item of the TCB in the appropriate event list.
\r
1732 This is placed in the list in priority order so the highest priority task
\r
1733 is the first to be woken by the event. */
\r
1734 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1736 /* We must remove ourselves from the ready list before adding ourselves
\r
1737 to the blocked list as the same list item is used for both lists. We have
\r
1738 exclusive access to the ready lists as the scheduler is locked. */
\r
1739 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1742 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1744 if( xTicksToWait == portMAX_DELAY )
\r
1746 /* Add ourselves to the suspended task list instead of a delayed task
\r
1747 list to ensure we are not woken by a timing event. We will block
\r
1749 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1753 /* Calculate the time at which the task should be woken if the event does
\r
1754 not occur. This may overflow but this doesn't matter. */
\r
1755 xTimeToWake = xTickCount + xTicksToWait;
\r
1756 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1761 /* Calculate the time at which the task should be woken if the event does
\r
1762 not occur. This may overflow but this doesn't matter. */
\r
1763 xTimeToWake = xTickCount + xTicksToWait;
\r
1764 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1768 /*-----------------------------------------------------------*/
\r
1770 #if configUSE_TIMERS == 1
\r
1772 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1774 portTickType xTimeToWake;
\r
1776 configASSERT( pxEventList );
\r
1778 /* This function should not be called by application code hence the
\r
1779 'Restricted' in its name. It is not part of the public API. It is
\r
1780 designed for use by kernel code, and has special calling requirements -
\r
1781 it should be called from a critical section. */
\r
1784 /* Place the event list item of the TCB in the appropriate event list.
\r
1785 In this case it is assume that this is the only task that is going to
\r
1786 be waiting on this event list, so the faster vListInsertEnd() function
\r
1787 can be used in place of vListInsert. */
\r
1788 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1790 /* We must remove this task from the ready list before adding it to the
\r
1791 blocked list as the same list item is used for both lists. This
\r
1792 function is called form a critical section. */
\r
1793 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1795 /* Calculate the time at which the task should be woken if the event does
\r
1796 not occur. This may overflow but this doesn't matter. */
\r
1797 xTimeToWake = xTickCount + xTicksToWait;
\r
1798 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1801 #endif /* configUSE_TIMERS */
\r
1802 /*-----------------------------------------------------------*/
\r
1804 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1806 tskTCB *pxUnblockedTCB;
\r
1807 portBASE_TYPE xReturn;
\r
1809 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1810 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1812 /* The event list is sorted in priority order, so we can remove the
\r
1813 first in the list, remove the TCB from the delayed list, and add
\r
1814 it to the ready list.
\r
1816 If an event is for a queue that is locked then this function will never
\r
1817 get called - the lock count on the queue will get modified instead. This
\r
1818 means we can always expect exclusive access to the event list here.
\r
1820 This function assumes that a check has already been made to ensure that
\r
1821 pxEventList is not empty. */
\r
1822 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1823 configASSERT( pxUnblockedTCB );
\r
1824 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1826 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1828 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1829 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1833 /* We cannot access the delayed or ready lists, so will hold this
\r
1834 task pending until the scheduler is resumed. */
\r
1835 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1838 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1840 /* Return true if the task removed from the event list has
\r
1841 a higher priority than the calling task. This allows
\r
1842 the calling task to know if it should force a context
\r
1848 xReturn = pdFALSE;
\r
1853 /*-----------------------------------------------------------*/
\r
1855 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1857 configASSERT( pxTimeOut );
\r
1858 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1859 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1861 /*-----------------------------------------------------------*/
\r
1863 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1865 portBASE_TYPE xReturn;
\r
1867 configASSERT( pxTimeOut );
\r
1868 configASSERT( pxTicksToWait );
\r
1870 taskENTER_CRITICAL();
\r
1872 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1873 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1874 the maximum block time then the task should block indefinitely, and
\r
1875 therefore never time out. */
\r
1876 if( *pxTicksToWait == portMAX_DELAY )
\r
1878 xReturn = pdFALSE;
\r
1880 else /* We are not blocking indefinitely, perform the checks below. */
\r
1883 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
1885 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1886 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1887 It must have wrapped all the way around and gone past us again. This
\r
1888 passed since vTaskSetTimeout() was called. */
\r
1891 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
1893 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1894 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
1895 vTaskSetTimeOutState( pxTimeOut );
\r
1896 xReturn = pdFALSE;
\r
1903 taskEXIT_CRITICAL();
\r
1907 /*-----------------------------------------------------------*/
\r
1909 void vTaskMissedYield( void )
\r
1911 xMissedYield = pdTRUE;
\r
1915 * -----------------------------------------------------------
\r
1917 * ----------------------------------------------------------
\r
1919 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1920 * language extensions. The equivalent prototype for this function is:
\r
1922 * void prvIdleTask( void *pvParameters );
\r
1925 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1927 /* Stop warnings. */
\r
1928 ( void ) pvParameters;
\r
1932 /* See if any tasks have been deleted. */
\r
1933 prvCheckTasksWaitingTermination();
\r
1935 #if ( configUSE_PREEMPTION == 0 )
\r
1937 /* If we are not using preemption we keep forcing a task switch to
\r
1938 see if any other task has become available. If we are using
\r
1939 preemption we don't need to do this as any task becoming available
\r
1940 will automatically get the processor anyway. */
\r
1945 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1947 /* When using preemption tasks of equal priority will be
\r
1948 timesliced. If a task that is sharing the idle priority is ready
\r
1949 to run then the idle task should yield before the end of the
\r
1952 A critical region is not required here as we are just reading from
\r
1953 the list, and an occasional incorrect value will not matter. If
\r
1954 the ready list at the idle priority contains more than one task
\r
1955 then a task other than the idle task is ready to execute. */
\r
1956 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1963 #if ( configUSE_IDLE_HOOK == 1 )
\r
1965 extern void vApplicationIdleHook( void );
\r
1967 /* Call the user defined function from within the idle task. This
\r
1968 allows the application designer to add background functionality
\r
1969 without the overhead of a separate task.
\r
1970 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1971 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1972 vApplicationIdleHook();
\r
1976 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1984 /*-----------------------------------------------------------
\r
1985 * File private functions documented at the top of the file.
\r
1986 *----------------------------------------------------------*/
\r
1990 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
1992 /* Store the function name in the TCB. */
\r
1993 #if configMAX_TASK_NAME_LEN > 1
\r
1995 /* Don't bring strncpy into the build unnecessarily. */
\r
1996 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
1999 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
\r
2001 /* This is used as an array index so must ensure it's not too large. First
\r
2002 remove the privilege bit if one is present. */
\r
2003 if( uxPriority >= configMAX_PRIORITIES )
\r
2005 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2008 pxTCB->uxPriority = uxPriority;
\r
2009 #if ( configUSE_MUTEXES == 1 )
\r
2011 pxTCB->uxBasePriority = uxPriority;
\r
2015 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2016 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2018 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2019 back to the containing TCB from a generic item in a list. */
\r
2020 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2022 /* Event lists are always in priority order. */
\r
2023 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
2024 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2026 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2028 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2032 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2034 pxTCB->pxTaskTag = NULL;
\r
2038 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2040 pxTCB->ulRunTimeCounter = 0UL;
\r
2044 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2046 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2050 ( void ) xRegions;
\r
2051 ( void ) usStackDepth;
\r
2055 /*-----------------------------------------------------------*/
\r
2057 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2059 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2063 if( xTaskToModify == pxCurrentTCB )
\r
2065 xTaskToModify = NULL;
\r
2068 /* If null is passed in here then we are deleting ourselves. */
\r
2069 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2071 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2073 /*-----------------------------------------------------------*/
\r
2076 static void prvInitialiseTaskLists( void )
\r
2078 unsigned portBASE_TYPE uxPriority;
\r
2080 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2082 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2085 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2086 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2087 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2089 #if ( INCLUDE_vTaskDelete == 1 )
\r
2091 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2095 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2097 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2101 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2103 pxDelayedTaskList = &xDelayedTaskList1;
\r
2104 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2106 /*-----------------------------------------------------------*/
\r
2108 static void prvCheckTasksWaitingTermination( void )
\r
2110 #if ( INCLUDE_vTaskDelete == 1 )
\r
2112 portBASE_TYPE xListIsEmpty;
\r
2114 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2115 too often in the idle task. */
\r
2116 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2118 vTaskSuspendAll();
\r
2119 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2122 if( xListIsEmpty == pdFALSE )
\r
2126 taskENTER_CRITICAL();
\r
2128 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2129 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2130 --uxCurrentNumberOfTasks;
\r
2133 taskEXIT_CRITICAL();
\r
2135 prvDeleteTCB( pxTCB );
\r
2141 /*-----------------------------------------------------------*/
\r
2143 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2145 /* The list item will be inserted in wake time order. */
\r
2146 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2148 if( xTimeToWake < xTickCount )
\r
2150 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2151 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2155 /* The wake time has not overflowed, so we can use the current block list. */
\r
2156 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2158 /* If the task entering the blocked state was placed at the head of the
\r
2159 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2161 if( xTimeToWake < xNextTaskUnblockTime )
\r
2163 xNextTaskUnblockTime = xTimeToWake;
\r
2167 /*-----------------------------------------------------------*/
\r
2169 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2173 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2174 the implementation of the port malloc function. */
\r
2175 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2177 if( pxNewTCB != NULL )
\r
2179 /* Allocate space for the stack used by the task being created.
\r
2180 The base of the stack memory stored in the TCB so the task can
\r
2181 be deleted later if required. */
\r
2182 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2184 if( pxNewTCB->pxStack == NULL )
\r
2186 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2187 vPortFree( pxNewTCB );
\r
2192 /* Just to help debugging. */
\r
2193 memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2199 /*-----------------------------------------------------------*/
\r
2201 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2203 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2205 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2206 unsigned short usStackRemaining;
\r
2208 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2209 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2212 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2213 #if ( portSTACK_GROWTH > 0 )
\r
2215 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2219 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2223 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
2224 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2226 } while( pxNextTCB != pxFirstTCB );
\r
2230 /*-----------------------------------------------------------*/
\r
2232 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2234 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
\r
2236 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2237 unsigned long ulStatsAsPercentage;
\r
2239 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2240 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2243 /* Get next TCB in from the list. */
\r
2244 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2246 /* Divide by zero check. */
\r
2247 if( ulTotalRunTime > 0UL )
\r
2249 /* Has the task run at all? */
\r
2250 if( pxNextTCB->ulRunTimeCounter == 0UL )
\r
2252 /* The task has used no CPU time at all. */
\r
2253 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2257 /* What percentage of the total run time has the task used?
\r
2258 This will always be rounded down to the nearest integer.
\r
2259 ulTotalRunTime has already been divided by 100. */
\r
2260 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime;
\r
2262 if( ulStatsAsPercentage > 0UL )
\r
2264 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2266 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2270 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2271 printf() library can be used. */
\r
2272 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2278 /* If the percentage is zero here then the task has
\r
2279 consumed less than 1% of the total run time. */
\r
2280 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2282 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2286 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2287 printf() library can be used. */
\r
2288 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2294 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2297 } while( pxNextTCB != pxFirstTCB );
\r
2301 /*-----------------------------------------------------------*/
\r
2303 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2305 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2307 register unsigned short usCount = 0U;
\r
2309 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2311 pucStackByte -= portSTACK_GROWTH;
\r
2315 usCount /= sizeof( portSTACK_TYPE );
\r
2321 /*-----------------------------------------------------------*/
\r
2323 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2325 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2328 unsigned char *pcEndOfStack;
\r
2329 unsigned portBASE_TYPE uxReturn;
\r
2331 pxTCB = prvGetTCBFromHandle( xTask );
\r
2333 #if portSTACK_GROWTH < 0
\r
2335 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2339 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2343 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2349 /*-----------------------------------------------------------*/
\r
2351 #if ( INCLUDE_vTaskDelete == 1 )
\r
2353 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2355 /* This call is required specifically for the TriCore port. It must be
\r
2356 above the vPortFree() calls. */
\r
2357 portCLEAN_UP_TCB( pxTCB );
\r
2359 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2360 the task to free any memory allocated at the application level. */
\r
2361 vPortFreeAligned( pxTCB->pxStack );
\r
2362 vPortFree( pxTCB );
\r
2368 /*-----------------------------------------------------------*/
\r
2370 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2372 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2374 xTaskHandle xReturn;
\r
2376 /* A critical section is not required as this is not called from
\r
2377 an interrupt and the current TCB will always be the same for any
\r
2378 individual execution thread. */
\r
2379 xReturn = pxCurrentTCB;
\r
2386 /*-----------------------------------------------------------*/
\r
2388 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2390 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2392 portBASE_TYPE xReturn;
\r
2394 if( xSchedulerRunning == pdFALSE )
\r
2396 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2400 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2402 xReturn = taskSCHEDULER_RUNNING;
\r
2406 xReturn = taskSCHEDULER_SUSPENDED;
\r
2414 /*-----------------------------------------------------------*/
\r
2416 #if ( configUSE_MUTEXES == 1 )
\r
2418 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2420 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2422 configASSERT( pxMutexHolder );
\r
2424 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2426 /* Adjust the mutex holder state to account for its new priority. */
\r
2427 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2429 /* If the task being modified is in the ready state it will need to
\r
2430 be moved in to a new list. */
\r
2431 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2433 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2435 /* Inherit the priority before being moved into the new list. */
\r
2436 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2437 prvAddTaskToReadyQueue( pxTCB );
\r
2441 /* Just inherit the priority. */
\r
2442 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2448 /*-----------------------------------------------------------*/
\r
2450 #if ( configUSE_MUTEXES == 1 )
\r
2452 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2454 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2456 if( pxMutexHolder != NULL )
\r
2458 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2460 /* We must be the running task to be able to give the mutex back.
\r
2461 Remove ourselves from the ready list we currently appear in. */
\r
2462 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2464 /* Disinherit the priority before adding ourselves into the new
\r
2466 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2467 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2468 prvAddTaskToReadyQueue( pxTCB );
\r
2474 /*-----------------------------------------------------------*/
\r
2476 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2478 void vTaskEnterCritical( void )
\r
2480 portDISABLE_INTERRUPTS();
\r
2482 if( xSchedulerRunning != pdFALSE )
\r
2484 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2489 /*-----------------------------------------------------------*/
\r
2491 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2493 void vTaskExitCritical( void )
\r
2495 if( xSchedulerRunning != pdFALSE )
\r
2497 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2499 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2501 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2503 portENABLE_INTERRUPTS();
\r
2510 /*-----------------------------------------------------------*/
\r
projects / freertos / blob