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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197 /*-----------------------------------------------------------*/
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200 * Place the task represented by pxTCB into the appropriate ready queue for
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201 * the task. It is inserted at the end of the list. One quirk of this is
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202 * that if the task being inserted is at the same priority as the currently
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203 * executing task, then it will only be rescheduled after the currently
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204 * executing task has been rescheduled.
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206 #define prvAddTaskToReadyQueue( pxTCB ) \
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207 if( ( pxTCB )->uxPriority > uxTopReadyPriority ) \
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209 uxTopReadyPriority = ( pxTCB )->uxPriority; \
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211 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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212 /*-----------------------------------------------------------*/
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215 * Macro that looks at the list of tasks that are currently delayed to see if
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216 * any require waking.
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218 * Tasks are stored in the queue in the order of their wake time - meaning
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219 * once one tasks has been found whose timer has not expired we need not look
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220 * any further down the list.
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222 #define prvCheckDelayedTasks() \
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224 portTickType xItemValue; \
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226 /* Is the tick count greater than or equal to the wake time of the first \
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227 task referenced from the delayed tasks list? */ \
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228 if( xTickCount >= xNextTaskUnblockTime ) \
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232 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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234 /* The delayed list is empty. Set xNextTaskUnblockTime to the \
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235 maximum possible value so it is extremely unlikely that the \
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236 if( xTickCount >= xNextTaskUnblockTime ) test will pass next \
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238 xNextTaskUnblockTime = portMAX_DELAY; \
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243 /* The delayed list is not empty, get the value of the item at \
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244 the head of the delayed list. This is the time at which the \
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245 task at the head of the delayed list should be removed from \
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246 the Blocked state. */ \
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247 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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248 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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250 if( xTickCount < xItemValue ) \
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252 /* It is not time to unblock this item yet, but the item \
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253 value is the time at which the task at the head of the \
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254 blocked list should be removed from the Blocked state - \
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255 so record the item value in xNextTaskUnblockTime. */ \
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256 xNextTaskUnblockTime = xItemValue; \
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260 /* It is time to remove the item from the Blocked state. */ \
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261 vListRemove( &( pxTCB->xGenericListItem ) ); \
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263 /* Is the task waiting on an event also? */ \
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264 if( pxTCB->xEventListItem.pvContainer != NULL ) \
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266 vListRemove( &( pxTCB->xEventListItem ) ); \
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268 prvAddTaskToReadyQueue( pxTCB ); \
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273 /*-----------------------------------------------------------*/
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276 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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277 * where NULL is used to indicate that the handle of the currently executing
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278 * task should be used in place of the parameter. This macro simply checks to
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279 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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281 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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283 /* Callback function prototypes. --------------------------*/
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284 extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );
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285 extern void vApplicationTickHook( void );
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287 /* File private functions. --------------------------------*/
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290 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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291 * into the TCB structure.
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293 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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296 * Utility to ready all the lists used by the scheduler. This is called
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297 * automatically upon the creation of the first task.
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299 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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302 * The idle task, which as all tasks is implemented as a never ending loop.
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303 * The idle task is automatically created and added to the ready lists upon
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304 * creation of the first user task.
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306 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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307 * language extensions. The equivalent prototype for this function is:
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309 * void prvIdleTask( void *pvParameters );
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312 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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315 * Utility to free all memory allocated by the scheduler to hold a TCB,
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316 * including the stack pointed to by the TCB.
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318 * This does not free memory allocated by the task itself (i.e. memory
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319 * allocated by calls to pvPortMalloc from within the tasks application code).
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321 #if ( INCLUDE_vTaskDelete == 1 )
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323 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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328 * Used only by the idle task. This checks to see if anything has been placed
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329 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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330 * and its TCB deleted.
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332 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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335 * The currently executing task is entering the Blocked state. Add the task to
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336 * either the current or the overflow delayed task list.
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338 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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341 * Allocates memory from the heap for a TCB and associated stack. Checks the
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342 * allocation was successful.
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344 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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347 * Called from vTaskList. vListTasks details all the tasks currently under
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348 * control of the scheduler. The tasks may be in one of a number of lists.
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349 * prvListTaskWithinSingleList accepts a list and details the tasks from
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350 * within just that list.
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352 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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353 * NORMAL APPLICATION CODE.
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355 #if ( configUSE_TRACE_FACILITY == 1 )
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357 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
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362 * When a task is created, the stack of the task is filled with a known value.
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363 * This function determines the 'high water mark' of the task stack by
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364 * determining how much of the stack remains at the original preset value.
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366 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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368 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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377 /*-----------------------------------------------------------
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378 * TASK CREATION API documented in task.h
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379 *----------------------------------------------------------*/
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381 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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383 signed portBASE_TYPE xReturn;
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386 configASSERT( pxTaskCode );
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387 configASSERT( ( uxPriority < configMAX_PRIORITIES ) );
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389 /* Allocate the memory required by the TCB and stack for the new task,
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390 checking that the allocation was successful. */
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391 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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393 if( pxNewTCB != NULL )
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395 portSTACK_TYPE *pxTopOfStack;
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397 #if( portUSING_MPU_WRAPPERS == 1 )
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398 /* Should the task be created in privileged mode? */
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399 portBASE_TYPE xRunPrivileged;
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400 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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402 xRunPrivileged = pdTRUE;
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406 xRunPrivileged = pdFALSE;
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408 uxPriority &= ~portPRIVILEGE_BIT;
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409 #endif /* portUSING_MPU_WRAPPERS == 1 */
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411 /* Calculate the top of stack address. This depends on whether the
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412 stack grows from high memory to low (as per the 80x86) or visa versa.
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413 portSTACK_GROWTH is used to make the result positive or negative as
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414 required by the port. */
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415 #if( portSTACK_GROWTH < 0 )
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417 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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418 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
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420 /* Check the alignment of the calculated top of stack is correct. */
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421 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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425 pxTopOfStack = pxNewTCB->pxStack;
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427 /* Check the alignment of the stack buffer is correct. */
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428 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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430 /* If we want to use stack checking on architectures that use
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431 a positive stack growth direction then we also need to store the
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432 other extreme of the stack space. */
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433 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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437 /* Setup the newly allocated TCB with the initial state of the task. */
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438 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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440 /* Initialize the TCB stack to look as if the task was already running,
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441 but had been interrupted by the scheduler. The return address is set
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442 to the start of the task function. Once the stack has been initialised
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443 the top of stack variable is updated. */
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444 #if( portUSING_MPU_WRAPPERS == 1 )
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446 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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450 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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454 /* Check the alignment of the initialised stack. */
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455 portALIGNMENT_ASSERT_pxCurrentTCB( ( ( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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457 if( ( void * ) pxCreatedTask != NULL )
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459 /* Pass the TCB out - in an anonymous way. The calling function/
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460 task can use this as a handle to delete the task later if
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462 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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465 /* We are going to manipulate the task queues to add this task to a
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466 ready list, so must make sure no interrupts occur. */
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467 taskENTER_CRITICAL();
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469 uxCurrentNumberOfTasks++;
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470 if( pxCurrentTCB == NULL )
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472 /* There are no other tasks, or all the other tasks are in
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473 the suspended state - make this the current task. */
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474 pxCurrentTCB = pxNewTCB;
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476 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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478 /* This is the first task to be created so do the preliminary
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479 initialisation required. We will not recover if this call
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480 fails, but we will report the failure. */
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481 prvInitialiseTaskLists();
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486 /* If the scheduler is not already running, make this task the
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487 current task if it is the highest priority task to be created
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489 if( xSchedulerRunning == pdFALSE )
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491 if( pxCurrentTCB->uxPriority <= uxPriority )
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493 pxCurrentTCB = pxNewTCB;
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498 /* Remember the top priority to make context switching faster. Use
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499 the priority in pxNewTCB as this has been capped to a valid value. */
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500 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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502 uxTopUsedPriority = pxNewTCB->uxPriority;
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505 #if ( configUSE_TRACE_FACILITY == 1 )
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507 /* Add a counter into the TCB for tracing only. */
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508 pxNewTCB->uxTCBNumber = uxTaskNumber;
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513 prvAddTaskToReadyQueue( pxNewTCB );
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516 traceTASK_CREATE( pxNewTCB );
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518 taskEXIT_CRITICAL();
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522 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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523 traceTASK_CREATE_FAILED();
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526 if( xReturn == pdPASS )
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528 if( xSchedulerRunning != pdFALSE )
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530 /* If the created task is of a higher priority than the current task
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531 then it should run now. */
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532 if( pxCurrentTCB->uxPriority < uxPriority )
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534 portYIELD_WITHIN_API();
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541 /*-----------------------------------------------------------*/
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543 #if ( INCLUDE_vTaskDelete == 1 )
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545 void vTaskDelete( xTaskHandle pxTaskToDelete )
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549 taskENTER_CRITICAL();
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551 /* Ensure a yield is performed if the current task is being
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553 if( pxTaskToDelete == pxCurrentTCB )
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555 pxTaskToDelete = NULL;
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558 /* If null is passed in here then we are deleting ourselves. */
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559 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
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561 /* Remove task from the ready list and place in the termination list.
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562 This will stop the task from be scheduled. The idle task will check
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563 the termination list and free up any memory allocated by the
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564 scheduler for the TCB and stack. */
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565 vListRemove( &( pxTCB->xGenericListItem ) );
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567 /* Is the task waiting on an event also? */
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568 if( pxTCB->xEventListItem.pvContainer != NULL )
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570 vListRemove( &( pxTCB->xEventListItem ) );
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573 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
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575 /* Increment the ucTasksDeleted variable so the idle task knows
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576 there is a task that has been deleted and that it should therefore
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577 check the xTasksWaitingTermination list. */
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580 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
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581 can detect that the task lists need re-generating. */
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584 traceTASK_DELETE( pxTCB );
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586 taskEXIT_CRITICAL();
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588 /* Force a reschedule if we have just deleted the current task. */
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589 if( xSchedulerRunning != pdFALSE )
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591 if( ( void * ) pxTaskToDelete == NULL )
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593 portYIELD_WITHIN_API();
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605 /*-----------------------------------------------------------
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606 * TASK CONTROL API documented in task.h
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607 *----------------------------------------------------------*/
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609 #if ( INCLUDE_vTaskDelayUntil == 1 )
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611 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
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613 portTickType xTimeToWake;
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614 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
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616 configASSERT( pxPreviousWakeTime );
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617 configASSERT( ( xTimeIncrement > 0U ) );
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621 /* Generate the tick time at which the task wants to wake. */
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622 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
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624 if( xTickCount < *pxPreviousWakeTime )
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626 /* The tick count has overflowed since this function was
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627 lasted called. In this case the only time we should ever
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628 actually delay is if the wake time has also overflowed,
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629 and the wake time is greater than the tick time. When this
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630 is the case it is as if neither time had overflowed. */
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631 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
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633 xShouldDelay = pdTRUE;
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638 /* The tick time has not overflowed. In this case we will
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639 delay if either the wake time has overflowed, and/or the
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640 tick time is less than the wake time. */
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641 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
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643 xShouldDelay = pdTRUE;
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647 /* Update the wake time ready for the next call. */
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648 *pxPreviousWakeTime = xTimeToWake;
\r
650 if( xShouldDelay != pdFALSE )
\r
652 traceTASK_DELAY_UNTIL();
\r
654 /* We must remove ourselves from the ready list before adding
\r
655 ourselves to the blocked list as the same list item is used for
\r
657 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
658 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
661 xAlreadyYielded = xTaskResumeAll();
\r
663 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
664 have put ourselves to sleep. */
\r
665 if( xAlreadyYielded == pdFALSE )
\r
667 portYIELD_WITHIN_API();
\r
672 /*-----------------------------------------------------------*/
\r
674 #if ( INCLUDE_vTaskDelay == 1 )
\r
676 void vTaskDelay( portTickType xTicksToDelay )
\r
678 portTickType xTimeToWake;
\r
679 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
681 /* A delay time of zero just forces a reschedule. */
\r
682 if( xTicksToDelay > ( portTickType ) 0U )
\r
688 /* A task that is removed from the event list while the
\r
689 scheduler is suspended will not get placed in the ready
\r
690 list or removed from the blocked list until the scheduler
\r
693 This task cannot be in an event list as it is the currently
\r
696 /* Calculate the time to wake - this may overflow but this is
\r
698 xTimeToWake = xTickCount + xTicksToDelay;
\r
700 /* We must remove ourselves from the ready list before adding
\r
701 ourselves to the blocked list as the same list item is used for
\r
703 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
704 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
706 xAlreadyYielded = xTaskResumeAll();
\r
709 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
710 have put ourselves to sleep. */
\r
711 if( xAlreadyYielded == pdFALSE )
\r
713 portYIELD_WITHIN_API();
\r
718 /*-----------------------------------------------------------*/
\r
720 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
722 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
725 unsigned portBASE_TYPE uxReturn;
\r
727 taskENTER_CRITICAL();
\r
729 /* If null is passed in here then we are changing the
\r
730 priority of the calling function. */
\r
731 pxTCB = prvGetTCBFromHandle( pxTask );
\r
732 uxReturn = pxTCB->uxPriority;
\r
734 taskEXIT_CRITICAL();
\r
740 /*-----------------------------------------------------------*/
\r
742 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
744 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
747 unsigned portBASE_TYPE uxCurrentPriority;
\r
748 portBASE_TYPE xYieldRequired = pdFALSE;
\r
750 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
752 /* Ensure the new priority is valid. */
\r
753 if( uxNewPriority >= configMAX_PRIORITIES )
\r
755 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
758 taskENTER_CRITICAL();
\r
760 if( pxTask == pxCurrentTCB )
\r
765 /* If null is passed in here then we are changing the
\r
766 priority of the calling function. */
\r
767 pxTCB = prvGetTCBFromHandle( pxTask );
\r
769 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
771 #if ( configUSE_MUTEXES == 1 )
\r
773 uxCurrentPriority = pxTCB->uxBasePriority;
\r
777 uxCurrentPriority = pxTCB->uxPriority;
\r
781 if( uxCurrentPriority != uxNewPriority )
\r
783 /* The priority change may have readied a task of higher
\r
784 priority than the calling task. */
\r
785 if( uxNewPriority > uxCurrentPriority )
\r
787 if( pxTask != NULL )
\r
789 /* The priority of another task is being raised. If we
\r
790 were raising the priority of the currently running task
\r
791 there would be no need to switch as it must have already
\r
792 been the highest priority task. */
\r
793 xYieldRequired = pdTRUE;
\r
796 else if( pxTask == NULL )
\r
798 /* Setting our own priority down means there may now be another
\r
799 task of higher priority that is ready to execute. */
\r
800 xYieldRequired = pdTRUE;
\r
805 #if ( configUSE_MUTEXES == 1 )
\r
807 /* Only change the priority being used if the task is not
\r
808 currently using an inherited priority. */
\r
809 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
811 pxTCB->uxPriority = uxNewPriority;
\r
814 /* The base priority gets set whatever. */
\r
815 pxTCB->uxBasePriority = uxNewPriority;
\r
819 pxTCB->uxPriority = uxNewPriority;
\r
823 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
825 /* If the task is in the blocked or suspended list we need do
\r
826 nothing more than change it's priority variable. However, if
\r
827 the task is in a ready list it needs to be removed and placed
\r
828 in the queue appropriate to its new priority. */
\r
829 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
831 /* The task is currently in its ready list - remove before adding
\r
832 it to it's new ready list. As we are in a critical section we
\r
833 can do this even if the scheduler is suspended. */
\r
834 vListRemove( &( pxTCB->xGenericListItem ) );
\r
835 prvAddTaskToReadyQueue( pxTCB );
\r
838 if( xYieldRequired == pdTRUE )
\r
840 portYIELD_WITHIN_API();
\r
844 taskEXIT_CRITICAL();
\r
848 /*-----------------------------------------------------------*/
\r
850 #if ( INCLUDE_vTaskSuspend == 1 )
\r
852 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
856 taskENTER_CRITICAL();
\r
858 /* Ensure a yield is performed if the current task is being
\r
860 if( pxTaskToSuspend == pxCurrentTCB )
\r
862 pxTaskToSuspend = NULL;
\r
865 /* If null is passed in here then we are suspending ourselves. */
\r
866 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
868 traceTASK_SUSPEND( pxTCB );
\r
870 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
871 vListRemove( &( pxTCB->xGenericListItem ) );
\r
873 /* Is the task waiting on an event also? */
\r
874 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
876 vListRemove( &( pxTCB->xEventListItem ) );
\r
879 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
881 taskEXIT_CRITICAL();
\r
883 if( ( void * ) pxTaskToSuspend == NULL )
\r
885 if( xSchedulerRunning != pdFALSE )
\r
887 /* We have just suspended the current task. */
\r
888 portYIELD_WITHIN_API();
\r
892 /* The scheduler is not running, but the task that was pointed
\r
893 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
894 must be adjusted to point to a different task. */
\r
895 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
897 /* No other tasks are ready, so set pxCurrentTCB back to
\r
898 NULL so when the next task is created pxCurrentTCB will
\r
899 be set to point to it no matter what its relative priority
\r
901 pxCurrentTCB = NULL;
\r
905 vTaskSwitchContext();
\r
912 /*-----------------------------------------------------------*/
\r
914 #if ( INCLUDE_vTaskSuspend == 1 )
\r
916 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
918 portBASE_TYPE xReturn = pdFALSE;
\r
919 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
921 /* It does not make sense to check if the calling task is suspended. */
\r
922 configASSERT( xTask );
\r
924 /* Is the task we are attempting to resume actually in the
\r
926 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
928 /* Has the task already been resumed from within an ISR? */
\r
929 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
931 /* Is it in the suspended list because it is in the
\r
932 Suspended state? It is possible to be in the suspended
\r
933 list because it is blocked on a task with no timeout
\r
935 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
946 /*-----------------------------------------------------------*/
\r
948 #if ( INCLUDE_vTaskSuspend == 1 )
\r
950 void vTaskResume( xTaskHandle pxTaskToResume )
\r
954 /* It does not make sense to resume the calling task. */
\r
955 configASSERT( pxTaskToResume );
\r
957 /* Remove the task from whichever list it is currently in, and place
\r
958 it in the ready list. */
\r
959 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
961 /* The parameter cannot be NULL as it is impossible to resume the
\r
962 currently executing task. */
\r
963 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
965 taskENTER_CRITICAL();
\r
967 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
969 traceTASK_RESUME( pxTCB );
\r
971 /* As we are in a critical section we can access the ready
\r
972 lists even if the scheduler is suspended. */
\r
973 vListRemove( &( pxTCB->xGenericListItem ) );
\r
974 prvAddTaskToReadyQueue( pxTCB );
\r
976 /* We may have just resumed a higher priority task. */
\r
977 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
979 /* This yield may not cause the task just resumed to run, but
\r
980 will leave the lists in the correct state for the next yield. */
\r
981 portYIELD_WITHIN_API();
\r
985 taskEXIT_CRITICAL();
\r
991 /*-----------------------------------------------------------*/
\r
993 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
995 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
997 portBASE_TYPE xYieldRequired = pdFALSE;
\r
999 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1001 configASSERT( pxTaskToResume );
\r
1003 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1005 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1007 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1009 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1011 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1013 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1014 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1015 prvAddTaskToReadyQueue( pxTCB );
\r
1019 /* We cannot access the delayed or ready lists, so will hold this
\r
1020 task pending until the scheduler is resumed, at which point a
\r
1021 yield will be performed if necessary. */
\r
1022 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1026 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1028 return xYieldRequired;
\r
1036 /*-----------------------------------------------------------
\r
1037 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1038 *----------------------------------------------------------*/
\r
1041 void vTaskStartScheduler( void )
\r
1043 portBASE_TYPE xReturn;
\r
1045 /* Add the idle task at the lowest priority. */
\r
1046 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1048 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1049 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1050 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );
\r
1054 /* Create the idle task without storing its handle. */
\r
1055 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
\r
1059 #if ( configUSE_TIMERS == 1 )
\r
1061 if( xReturn == pdPASS )
\r
1063 xReturn = xTimerCreateTimerTask();
\r
1068 if( xReturn == pdPASS )
\r
1070 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1071 before or during the call to xPortStartScheduler(). The stacks of
\r
1072 the created tasks contain a status word with interrupts switched on
\r
1073 so interrupts will automatically get re-enabled when the first task
\r
1076 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1077 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1078 portDISABLE_INTERRUPTS();
\r
1080 xSchedulerRunning = pdTRUE;
\r
1081 xTickCount = ( portTickType ) 0U;
\r
1083 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1084 macro must be defined to configure the timer/counter used to generate
\r
1085 the run time counter time base. */
\r
1086 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1088 /* Setting up the timer tick is hardware specific and thus in the
\r
1089 portable interface. */
\r
1090 if( xPortStartScheduler() != pdFALSE )
\r
1092 /* Should not reach here as if the scheduler is running the
\r
1093 function will not return. */
\r
1097 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1101 /* This line will only be reached if the kernel could not be started. */
\r
1102 configASSERT( xReturn );
\r
1104 /*-----------------------------------------------------------*/
\r
1106 void vTaskEndScheduler( void )
\r
1108 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1109 routine so the original ISRs can be restored if necessary. The port
\r
1110 layer must ensure interrupts enable bit is left in the correct state. */
\r
1111 portDISABLE_INTERRUPTS();
\r
1112 xSchedulerRunning = pdFALSE;
\r
1113 vPortEndScheduler();
\r
1115 /*----------------------------------------------------------*/
\r
1117 void vTaskSuspendAll( void )
\r
1119 /* A critical section is not required as the variable is of type
\r
1121 ++uxSchedulerSuspended;
\r
1123 /*----------------------------------------------------------*/
\r
1125 signed portBASE_TYPE xTaskResumeAll( void )
\r
1127 register tskTCB *pxTCB;
\r
1128 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1130 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1131 previous call to vTaskSuspendAll(). */
\r
1132 configASSERT( uxSchedulerSuspended );
\r
1134 /* It is possible that an ISR caused a task to be removed from an event
\r
1135 list while the scheduler was suspended. If this was the case then the
\r
1136 removed task will have been added to the xPendingReadyList. Once the
\r
1137 scheduler has been resumed it is safe to move all the pending ready
\r
1138 tasks from this list into their appropriate ready list. */
\r
1139 taskENTER_CRITICAL();
\r
1141 --uxSchedulerSuspended;
\r
1143 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1145 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1147 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1149 /* Move any readied tasks from the pending list into the
\r
1150 appropriate ready list. */
\r
1151 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1153 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1154 vListRemove( &( pxTCB->xEventListItem ) );
\r
1155 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1156 prvAddTaskToReadyQueue( pxTCB );
\r
1158 /* If we have moved a task that has a priority higher than
\r
1159 the current task then we should yield. */
\r
1160 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1162 xYieldRequired = pdTRUE;
\r
1166 /* If any ticks occurred while the scheduler was suspended then
\r
1167 they should be processed now. This ensures the tick count does not
\r
1168 slip, and that any delayed tasks are resumed at the correct time. */
\r
1169 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1171 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1173 vTaskIncrementTick();
\r
1177 /* As we have processed some ticks it is appropriate to yield
\r
1178 to ensure the highest priority task that is ready to run is
\r
1179 the task actually running. */
\r
1180 #if configUSE_PREEMPTION == 1
\r
1182 xYieldRequired = pdTRUE;
\r
1187 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1189 xAlreadyYielded = pdTRUE;
\r
1190 xMissedYield = pdFALSE;
\r
1191 portYIELD_WITHIN_API();
\r
1196 taskEXIT_CRITICAL();
\r
1198 return xAlreadyYielded;
\r
1206 /*-----------------------------------------------------------
\r
1207 * PUBLIC TASK UTILITIES documented in task.h
\r
1208 *----------------------------------------------------------*/
\r
1212 portTickType xTaskGetTickCount( void )
\r
1214 portTickType xTicks;
\r
1216 /* Critical section required if running on a 16 bit processor. */
\r
1217 taskENTER_CRITICAL();
\r
1219 xTicks = xTickCount;
\r
1221 taskEXIT_CRITICAL();
\r
1225 /*-----------------------------------------------------------*/
\r
1227 portTickType xTaskGetTickCountFromISR( void )
\r
1229 portTickType xReturn;
\r
1230 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1232 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1233 xReturn = xTickCount;
\r
1234 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1238 /*-----------------------------------------------------------*/
\r
1240 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1242 /* A critical section is not required because the variables are of type
\r
1244 return uxCurrentNumberOfTasks;
\r
1246 /*-----------------------------------------------------------*/
\r
1248 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1250 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1254 /* If null is passed in here then the name of the calling task is being queried. */
\r
1255 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1256 configASSERT( pxTCB );
\r
1257 return &( pxTCB->pcTaskName[ 0 ] );
\r
1261 /*-----------------------------------------------------------*/
\r
1263 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1265 void vTaskList( signed char *pcWriteBuffer )
\r
1267 unsigned portBASE_TYPE uxQueue;
\r
1269 /* This is a VERY costly function that should be used for debug only.
\r
1270 It leaves interrupts disabled for a LONG time. */
\r
1272 vTaskSuspendAll();
\r
1274 /* Run through all the lists that could potentially contain a TCB and
\r
1275 report the task name, state and stack high water mark. */
\r
1277 *pcWriteBuffer = ( signed char ) 0x00;
\r
1278 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1280 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1286 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1288 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1290 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1292 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1294 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1297 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1299 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1302 #if( INCLUDE_vTaskDelete == 1 )
\r
1304 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1306 prvListTaskWithinSingleList( pcWriteBuffer, &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1311 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1313 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1315 prvListTaskWithinSingleList( pcWriteBuffer, &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1324 /*----------------------------------------------------------*/
\r
1326 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1328 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1330 unsigned portBASE_TYPE uxQueue;
\r
1331 unsigned long ulTotalRunTime;
\r
1333 /* This is a VERY costly function that should be used for debug only.
\r
1334 It leaves interrupts disabled for a LONG time. */
\r
1336 vTaskSuspendAll();
\r
1338 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1339 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1341 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1344 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1345 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1346 ulTotalRunTime /= 100UL;
\r
1348 /* Run through all the lists that could potentially contain a TCB,
\r
1349 generating a table of run timer percentages in the provided
\r
1352 *pcWriteBuffer = ( signed char ) 0x00;
\r
1353 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1355 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1361 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1363 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
\r
1365 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1367 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1369 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
\r
1372 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1374 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
\r
1377 #if ( INCLUDE_vTaskDelete == 1 )
\r
1379 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1381 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTime );
\r
1386 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1388 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1390 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTime );
\r
1399 /*----------------------------------------------------------*/
\r
1401 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1403 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1405 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1406 started, then xIdleTaskHandle will be NULL. */
\r
1407 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1408 return xIdleTaskHandle;
\r
1413 /*-----------------------------------------------------------
\r
1414 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1415 * documented in task.h
\r
1416 *----------------------------------------------------------*/
\r
1418 void vTaskIncrementTick( void )
\r
1422 /* Called by the portable layer each time a tick interrupt occurs.
\r
1423 Increments the tick then checks to see if the new tick value will cause any
\r
1424 tasks to be unblocked. */
\r
1425 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1428 if( xTickCount == ( portTickType ) 0U )
\r
1432 /* Tick count has overflowed so we need to swap the delay lists.
\r
1433 If there are any items in pxDelayedTaskList here then there is
\r
1435 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );
\r
1437 pxTemp = pxDelayedTaskList;
\r
1438 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1439 pxOverflowDelayedTaskList = pxTemp;
\r
1440 xNumOfOverflows++;
\r
1442 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1444 /* The new current delayed list is empty. Set
\r
1445 xNextTaskUnblockTime to the maximum possible value so it is
\r
1446 extremely unlikely that the
\r
1447 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
1448 there is an item in the delayed list. */
\r
1449 xNextTaskUnblockTime = portMAX_DELAY;
\r
1453 /* The new current delayed list is not empty, get the value of
\r
1454 the item at the head of the delayed list. This is the time at
\r
1455 which the task at the head of the delayed list should be removed
\r
1456 from the Blocked state. */
\r
1457 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1458 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1462 /* See if this tick has made a timeout expire. */
\r
1463 prvCheckDelayedTasks();
\r
1469 /* The tick hook gets called at regular intervals, even if the
\r
1470 scheduler is locked. */
\r
1471 #if ( configUSE_TICK_HOOK == 1 )
\r
1473 vApplicationTickHook();
\r
1478 #if ( configUSE_TICK_HOOK == 1 )
\r
1480 /* Guard against the tick hook being called when the missed tick
\r
1481 count is being unwound (when the scheduler is being unlocked. */
\r
1482 if( uxMissedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1484 vApplicationTickHook();
\r
1489 traceTASK_INCREMENT_TICK( xTickCount );
\r
1491 /*-----------------------------------------------------------*/
\r
1493 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1495 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1499 /* If xTask is NULL then we are setting our own task hook. */
\r
1500 if( xTask == NULL )
\r
1502 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1506 xTCB = ( tskTCB * ) xTask;
\r
1509 /* Save the hook function in the TCB. A critical section is required as
\r
1510 the value can be accessed from an interrupt. */
\r
1511 taskENTER_CRITICAL();
\r
1512 xTCB->pxTaskTag = pxHookFunction;
\r
1513 taskEXIT_CRITICAL();
\r
1517 /*-----------------------------------------------------------*/
\r
1519 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1521 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1524 pdTASK_HOOK_CODE xReturn;
\r
1526 /* If xTask is NULL then we are setting our own task hook. */
\r
1527 if( xTask == NULL )
\r
1529 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1533 xTCB = ( tskTCB * ) xTask;
\r
1536 /* Save the hook function in the TCB. A critical section is required as
\r
1537 the value can be accessed from an interrupt. */
\r
1538 taskENTER_CRITICAL();
\r
1539 xReturn = xTCB->pxTaskTag;
\r
1540 taskEXIT_CRITICAL();
\r
1546 /*-----------------------------------------------------------*/
\r
1548 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1550 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1553 portBASE_TYPE xReturn;
\r
1555 /* If xTask is NULL then we are calling our own task hook. */
\r
1556 if( xTask == NULL )
\r
1558 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1562 xTCB = ( tskTCB * ) xTask;
\r
1565 if( xTCB->pxTaskTag != NULL )
\r
1567 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1578 /*-----------------------------------------------------------*/
\r
1580 void vTaskSwitchContext( void )
\r
1582 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1584 /* The scheduler is currently suspended - do not allow a context
\r
1586 xMissedYield = pdTRUE;
\r
1590 traceTASK_SWITCHED_OUT();
\r
1592 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1594 unsigned long ulTempCounter;
\r
1596 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1597 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter );
\r
1599 ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
\r
1602 /* Add the amount of time the task has been running to the accumulated
\r
1603 time so far. The time the task started running was stored in
\r
1604 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1605 so count values are only valid until the timer overflows. Generally
\r
1606 this will be about 1 hour assuming a 1uS timer increment. */
\r
1607 pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
\r
1608 ulTaskSwitchedInTime = ulTempCounter;
\r
1612 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1613 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1615 /* Find the highest priority queue that contains ready tasks. */
\r
1616 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1618 configASSERT( uxTopReadyPriority );
\r
1619 --uxTopReadyPriority;
\r
1622 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1623 same priority get an equal share of the processor time. */
\r
1624 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1626 traceTASK_SWITCHED_IN();
\r
1629 /*-----------------------------------------------------------*/
\r
1631 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1633 portTickType xTimeToWake;
\r
1635 configASSERT( pxEventList );
\r
1637 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1638 SCHEDULER SUSPENDED. */
\r
1640 /* Place the event list item of the TCB in the appropriate event list.
\r
1641 This is placed in the list in priority order so the highest priority task
\r
1642 is the first to be woken by the event. */
\r
1643 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1645 /* We must remove ourselves from the ready list before adding ourselves
\r
1646 to the blocked list as the same list item is used for both lists. We have
\r
1647 exclusive access to the ready lists as the scheduler is locked. */
\r
1648 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1651 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1653 if( xTicksToWait == portMAX_DELAY )
\r
1655 /* Add ourselves to the suspended task list instead of a delayed task
\r
1656 list to ensure we are not woken by a timing event. We will block
\r
1658 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1662 /* Calculate the time at which the task should be woken if the event does
\r
1663 not occur. This may overflow but this doesn't matter. */
\r
1664 xTimeToWake = xTickCount + xTicksToWait;
\r
1665 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1670 /* Calculate the time at which the task should be woken if the event does
\r
1671 not occur. This may overflow but this doesn't matter. */
\r
1672 xTimeToWake = xTickCount + xTicksToWait;
\r
1673 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1677 /*-----------------------------------------------------------*/
\r
1679 #if configUSE_TIMERS == 1
\r
1681 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1683 portTickType xTimeToWake;
\r
1685 configASSERT( pxEventList );
\r
1687 /* This function should not be called by application code hence the
\r
1688 'Restricted' in its name. It is not part of the public API. It is
\r
1689 designed for use by kernel code, and has special calling requirements -
\r
1690 it should be called from a critical section. */
\r
1693 /* Place the event list item of the TCB in the appropriate event list.
\r
1694 In this case it is assume that this is the only task that is going to
\r
1695 be waiting on this event list, so the faster vListInsertEnd() function
\r
1696 can be used in place of vListInsert. */
\r
1697 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1699 /* We must remove this task from the ready list before adding it to the
\r
1700 blocked list as the same list item is used for both lists. This
\r
1701 function is called form a critical section. */
\r
1702 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1704 /* Calculate the time at which the task should be woken if the event does
\r
1705 not occur. This may overflow but this doesn't matter. */
\r
1706 xTimeToWake = xTickCount + xTicksToWait;
\r
1707 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1710 #endif /* configUSE_TIMERS */
\r
1711 /*-----------------------------------------------------------*/
\r
1713 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1715 tskTCB *pxUnblockedTCB;
\r
1716 portBASE_TYPE xReturn;
\r
1718 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1719 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1721 /* The event list is sorted in priority order, so we can remove the
\r
1722 first in the list, remove the TCB from the delayed list, and add
\r
1723 it to the ready list.
\r
1725 If an event is for a queue that is locked then this function will never
\r
1726 get called - the lock count on the queue will get modified instead. This
\r
1727 means we can always expect exclusive access to the event list here.
\r
1729 This function assumes that a check has already been made to ensure that
\r
1730 pxEventList is not empty. */
\r
1731 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1732 configASSERT( pxUnblockedTCB );
\r
1733 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1735 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1737 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1738 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1742 /* We cannot access the delayed or ready lists, so will hold this
\r
1743 task pending until the scheduler is resumed. */
\r
1744 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1747 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1749 /* Return true if the task removed from the event list has
\r
1750 a higher priority than the calling task. This allows
\r
1751 the calling task to know if it should force a context
\r
1757 xReturn = pdFALSE;
\r
1762 /*-----------------------------------------------------------*/
\r
1764 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1766 configASSERT( pxTimeOut );
\r
1767 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1768 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1770 /*-----------------------------------------------------------*/
\r
1772 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1774 portBASE_TYPE xReturn;
\r
1776 configASSERT( pxTimeOut );
\r
1777 configASSERT( pxTicksToWait );
\r
1779 taskENTER_CRITICAL();
\r
1781 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1782 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1783 the maximum block time then the task should block indefinitely, and
\r
1784 therefore never time out. */
\r
1785 if( *pxTicksToWait == portMAX_DELAY )
\r
1787 xReturn = pdFALSE;
\r
1789 else /* We are not blocking indefinitely, perform the checks below. */
\r
1792 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
1794 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1795 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1796 It must have wrapped all the way around and gone past us again. This
\r
1797 passed since vTaskSetTimeout() was called. */
\r
1800 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
1802 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1803 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
1804 vTaskSetTimeOutState( pxTimeOut );
\r
1805 xReturn = pdFALSE;
\r
1812 taskEXIT_CRITICAL();
\r
1816 /*-----------------------------------------------------------*/
\r
1818 void vTaskMissedYield( void )
\r
1820 xMissedYield = pdTRUE;
\r
1822 /*-----------------------------------------------------------*/
\r
1824 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1825 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
1827 unsigned portBASE_TYPE uxReturn;
\r
1830 if( xTask != NULL )
\r
1832 pxTCB = ( tskTCB * ) xTask;
\r
1833 uxReturn = pxTCB->uxTCBNumber;
\r
1843 /*-----------------------------------------------------------*/
\r
1845 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1846 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
1850 if( xTask != NULL )
\r
1852 pxTCB = ( tskTCB * ) xTask;
\r
1853 pxTCB->uxTCBNumber = uxHandle;
\r
1860 * -----------------------------------------------------------
\r
1862 * ----------------------------------------------------------
\r
1864 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1865 * language extensions. The equivalent prototype for this function is:
\r
1867 * void prvIdleTask( void *pvParameters );
\r
1870 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1872 /* Stop warnings. */
\r
1873 ( void ) pvParameters;
\r
1877 /* See if any tasks have been deleted. */
\r
1878 prvCheckTasksWaitingTermination();
\r
1880 #if ( configUSE_PREEMPTION == 0 )
\r
1882 /* If we are not using preemption we keep forcing a task switch to
\r
1883 see if any other task has become available. If we are using
\r
1884 preemption we don't need to do this as any task becoming available
\r
1885 will automatically get the processor anyway. */
\r
1890 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1892 /* When using preemption tasks of equal priority will be
\r
1893 timesliced. If a task that is sharing the idle priority is ready
\r
1894 to run then the idle task should yield before the end of the
\r
1897 A critical region is not required here as we are just reading from
\r
1898 the list, and an occasional incorrect value will not matter. If
\r
1899 the ready list at the idle priority contains more than one task
\r
1900 then a task other than the idle task is ready to execute. */
\r
1901 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1908 #if ( configUSE_IDLE_HOOK == 1 )
\r
1910 extern void vApplicationIdleHook( void );
\r
1912 /* Call the user defined function from within the idle task. This
\r
1913 allows the application designer to add background functionality
\r
1914 without the overhead of a separate task.
\r
1915 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1916 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1917 vApplicationIdleHook();
\r
1921 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1929 /*-----------------------------------------------------------
\r
1930 * File private functions documented at the top of the file.
\r
1931 *----------------------------------------------------------*/
\r
1935 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
1937 /* Store the function name in the TCB. */
\r
1938 #if configMAX_TASK_NAME_LEN > 1
\r
1940 /* Don't bring strncpy into the build unnecessarily. */
\r
1941 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
1944 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
\r
1946 /* This is used as an array index so must ensure it's not too large. First
\r
1947 remove the privilege bit if one is present. */
\r
1948 if( uxPriority >= configMAX_PRIORITIES )
\r
1950 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
1953 pxTCB->uxPriority = uxPriority;
\r
1954 #if ( configUSE_MUTEXES == 1 )
\r
1956 pxTCB->uxBasePriority = uxPriority;
\r
1960 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
1961 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
1963 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
1964 back to the containing TCB from a generic item in a list. */
\r
1965 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
1967 /* Event lists are always in priority order. */
\r
1968 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
1969 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
1971 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
1973 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
1977 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1979 pxTCB->pxTaskTag = NULL;
\r
1983 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1985 pxTCB->ulRunTimeCounter = 0UL;
\r
1989 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
1991 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
1995 ( void ) xRegions;
\r
1996 ( void ) usStackDepth;
\r
2000 /*-----------------------------------------------------------*/
\r
2002 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2004 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2008 if( xTaskToModify == pxCurrentTCB )
\r
2010 xTaskToModify = NULL;
\r
2013 /* If null is passed in here then we are deleting ourselves. */
\r
2014 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2016 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2018 /*-----------------------------------------------------------*/
\r
2021 static void prvInitialiseTaskLists( void )
\r
2023 unsigned portBASE_TYPE uxPriority;
\r
2025 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2027 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2030 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2031 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2032 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2034 #if ( INCLUDE_vTaskDelete == 1 )
\r
2036 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2040 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2042 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2046 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2048 pxDelayedTaskList = &xDelayedTaskList1;
\r
2049 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2051 /*-----------------------------------------------------------*/
\r
2053 static void prvCheckTasksWaitingTermination( void )
\r
2055 #if ( INCLUDE_vTaskDelete == 1 )
\r
2057 portBASE_TYPE xListIsEmpty;
\r
2059 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2060 too often in the idle task. */
\r
2061 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2063 vTaskSuspendAll();
\r
2064 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2067 if( xListIsEmpty == pdFALSE )
\r
2071 taskENTER_CRITICAL();
\r
2073 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2074 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2075 --uxCurrentNumberOfTasks;
\r
2078 taskEXIT_CRITICAL();
\r
2080 prvDeleteTCB( pxTCB );
\r
2086 /*-----------------------------------------------------------*/
\r
2088 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2090 /* The list item will be inserted in wake time order. */
\r
2091 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2093 if( xTimeToWake < xTickCount )
\r
2095 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2096 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2100 /* The wake time has not overflowed, so we can use the current block list. */
\r
2101 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2103 /* If the task entering the blocked state was placed at the head of the
\r
2104 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2106 if( xTimeToWake < xNextTaskUnblockTime )
\r
2108 xNextTaskUnblockTime = xTimeToWake;
\r
2112 /*-----------------------------------------------------------*/
\r
2114 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2118 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2119 the implementation of the port malloc function. */
\r
2120 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2122 if( pxNewTCB != NULL )
\r
2124 /* Allocate space for the stack used by the task being created.
\r
2125 The base of the stack memory stored in the TCB so the task can
\r
2126 be deleted later if required. */
\r
2127 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2129 if( pxNewTCB->pxStack == NULL )
\r
2131 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2132 vPortFree( pxNewTCB );
\r
2137 /* Just to help debugging. */
\r
2138 memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2144 /*-----------------------------------------------------------*/
\r
2146 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2148 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2150 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2151 unsigned short usStackRemaining;
\r
2152 PRIVILEGED_DATA static char pcStatusString[ 50 ];
\r
2154 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2155 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2158 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2159 #if ( portSTACK_GROWTH > 0 )
\r
2161 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2165 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2169 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
2170 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2172 } while( pxNextTCB != pxFirstTCB );
\r
2176 /*-----------------------------------------------------------*/
\r
2178 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2180 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
\r
2182 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2183 unsigned long ulStatsAsPercentage;
\r
2185 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2186 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2189 /* Get next TCB in from the list. */
\r
2190 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2192 /* Divide by zero check. */
\r
2193 if( ulTotalRunTime > 0UL )
\r
2195 /* Has the task run at all? */
\r
2196 if( pxNextTCB->ulRunTimeCounter == 0UL )
\r
2198 /* The task has used no CPU time at all. */
\r
2199 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2203 /* What percentage of the total run time has the task used?
\r
2204 This will always be rounded down to the nearest integer.
\r
2205 ulTotalRunTime has already been divided by 100. */
\r
2206 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime;
\r
2208 if( ulStatsAsPercentage > 0UL )
\r
2210 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2212 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2216 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2217 printf() library can be used. */
\r
2218 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2224 /* If the percentage is zero here then the task has
\r
2225 consumed less than 1% of the total run time. */
\r
2226 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2228 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2232 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2233 printf() library can be used. */
\r
2234 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2240 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2243 } while( pxNextTCB != pxFirstTCB );
\r
2247 /*-----------------------------------------------------------*/
\r
2249 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2251 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2253 register unsigned short usCount = 0U;
\r
2255 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2257 pucStackByte -= portSTACK_GROWTH;
\r
2261 usCount /= sizeof( portSTACK_TYPE );
\r
2267 /*-----------------------------------------------------------*/
\r
2269 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2271 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2274 unsigned char *pcEndOfStack;
\r
2275 unsigned portBASE_TYPE uxReturn;
\r
2277 pxTCB = prvGetTCBFromHandle( xTask );
\r
2279 #if portSTACK_GROWTH < 0
\r
2281 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2285 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2289 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2295 /*-----------------------------------------------------------*/
\r
2297 #if ( INCLUDE_vTaskDelete == 1 )
\r
2299 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2301 /* This call is required specifically for the TriCore port. It must be
\r
2302 above the vPortFree() calls. */
\r
2303 portCLEAN_UP_TCB( pxTCB );
\r
2305 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2306 the task to free any memory allocated at the application level. */
\r
2307 vPortFreeAligned( pxTCB->pxStack );
\r
2308 vPortFree( pxTCB );
\r
2314 /*-----------------------------------------------------------*/
\r
2316 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2318 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2320 xTaskHandle xReturn;
\r
2322 /* A critical section is not required as this is not called from
\r
2323 an interrupt and the current TCB will always be the same for any
\r
2324 individual execution thread. */
\r
2325 xReturn = pxCurrentTCB;
\r
2332 /*-----------------------------------------------------------*/
\r
2334 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2336 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2338 portBASE_TYPE xReturn;
\r
2340 if( xSchedulerRunning == pdFALSE )
\r
2342 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2346 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2348 xReturn = taskSCHEDULER_RUNNING;
\r
2352 xReturn = taskSCHEDULER_SUSPENDED;
\r
2360 /*-----------------------------------------------------------*/
\r
2362 #if ( configUSE_MUTEXES == 1 )
\r
2364 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2366 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2368 configASSERT( pxMutexHolder );
\r
2370 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2372 /* Adjust the mutex holder state to account for its new priority. */
\r
2373 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2375 /* If the task being modified is in the ready state it will need to
\r
2376 be moved in to a new list. */
\r
2377 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2379 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2381 /* Inherit the priority before being moved into the new list. */
\r
2382 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2383 prvAddTaskToReadyQueue( pxTCB );
\r
2387 /* Just inherit the priority. */
\r
2388 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2391 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2396 /*-----------------------------------------------------------*/
\r
2398 #if ( configUSE_MUTEXES == 1 )
\r
2400 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2402 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2404 if( pxMutexHolder != NULL )
\r
2406 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2408 /* We must be the running task to be able to give the mutex back.
\r
2409 Remove ourselves from the ready list we currently appear in. */
\r
2410 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2412 /* Disinherit the priority before adding the task into the new
\r
2414 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2415 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2416 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2417 prvAddTaskToReadyQueue( pxTCB );
\r
2423 /*-----------------------------------------------------------*/
\r
2425 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2427 void vTaskEnterCritical( void )
\r
2429 portDISABLE_INTERRUPTS();
\r
2431 if( xSchedulerRunning != pdFALSE )
\r
2433 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2438 /*-----------------------------------------------------------*/
\r
2440 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2442 void vTaskExitCritical( void )
\r
2444 if( xSchedulerRunning != pdFALSE )
\r
2446 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2448 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2450 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2452 portENABLE_INTERRUPTS();
\r
2459 /*-----------------------------------------------------------*/
\r
projects / freertos / blob