2 FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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5 FreeRTOS supports many tools and architectures. V7.0.0 is sponsored by:
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6 Atollic AB - Atollic provides professional embedded systems development
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7 tools for C/C++ development, code analysis and test automation.
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8 See http://www.atollic.com
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11 ***************************************************************************
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13 * FreeRTOS tutorial books are available in pdf and paperback. *
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14 * Complete, revised, and edited pdf reference manuals are also *
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17 * Purchasing FreeRTOS documentation will not only help you, by *
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18 * ensuring you get running as quickly as possible and with an *
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19 * in-depth knowledge of how to use FreeRTOS, it will also help *
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20 * the FreeRTOS project to continue with its mission of providing *
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21 * professional grade, cross platform, de facto standard solutions *
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22 * for microcontrollers - completely free of charge! *
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24 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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26 * Thank you for using FreeRTOS, and thank you for your support! *
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28 ***************************************************************************
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31 This file is part of the FreeRTOS distribution.
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33 FreeRTOS is free software; you can redistribute it and/or modify it under
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34 the terms of the GNU General Public License (version 2) as published by the
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35 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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36 >>>NOTE<<< The modification to the GPL is included to allow you to
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37 distribute a combined work that includes FreeRTOS without being obliged to
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38 provide the source code for proprietary components outside of the FreeRTOS
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39 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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40 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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41 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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42 more details. You should have received a copy of the GNU General Public
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43 License and the FreeRTOS license exception along with FreeRTOS; if not it
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44 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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45 by writing to Richard Barry, contact details for whom are available on the
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50 http://www.FreeRTOS.org - Documentation, latest information, license and
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53 http://www.SafeRTOS.com - A version that is certified for use in safety
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56 http://www.OpenRTOS.com - Commercial support, development, porting,
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57 licensing and training services.
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65 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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66 all the API functions to use the MPU wrappers. That should only be done when
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67 task.h is included from an application file. */
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68 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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70 #include "FreeRTOS.h"
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73 #include "StackMacros.h"
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75 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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78 * Macro to define the amount of stack available to the idle task.
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80 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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83 * Task control block. A task control block (TCB) is allocated to each task,
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84 * and stores the context of the task.
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86 typedef struct tskTaskControlBlock
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88 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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90 #if ( portUSING_MPU_WRAPPERS == 1 )
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91 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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94 xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
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95 xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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96 unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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97 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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98 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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100 #if ( portSTACK_GROWTH > 0 )
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101 portSTACK_TYPE *pxEndOfStack; /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
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104 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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105 unsigned portBASE_TYPE uxCriticalNesting;
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108 #if ( configUSE_TRACE_FACILITY == 1 )
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109 unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
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112 #if ( configUSE_MUTEXES == 1 )
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113 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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116 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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117 pdTASK_HOOK_CODE pxTaskTag;
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120 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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121 unsigned long ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
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128 * Some kernel aware debuggers require data to be viewed to be global, rather
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131 #ifdef portREMOVE_STATIC_QUALIFIER
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136 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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138 /* Lists for ready and blocked tasks. --------------------*/
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140 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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141 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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142 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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143 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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144 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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145 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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147 #if ( INCLUDE_vTaskDelete == 1 )
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149 PRIVILEGED_DATA static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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150 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
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154 #if ( INCLUDE_vTaskSuspend == 1 )
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156 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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160 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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162 PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL;
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166 /* File private variables. --------------------------------*/
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167 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
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168 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0;
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169 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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170 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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171 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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172 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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173 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
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174 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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175 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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176 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0;
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177 PRIVILEGED_DATA static portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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179 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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181 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
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182 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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183 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
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187 /* Debugging and trace facilities private variables and macros. ------------*/
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190 * The value used to fill the stack of a task when the task is created. This
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191 * is used purely for checking the high water mark for tasks.
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193 #define tskSTACK_FILL_BYTE ( 0xa5U )
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196 * Macros used by vListTask to indicate which state a task is in.
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198 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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199 #define tskREADY_CHAR ( ( signed char ) 'R' )
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200 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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201 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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204 * Macros and private variables used by the trace facility.
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206 #if ( configUSE_TRACE_FACILITY == 1 )
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208 #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned long ) ( sizeof( unsigned long ) + sizeof( unsigned long ) ) )
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209 PRIVILEGED_DATA static volatile signed char * volatile pcTraceBuffer;
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210 PRIVILEGED_DATA static signed char *pcTraceBufferStart;
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211 PRIVILEGED_DATA static signed char *pcTraceBufferEnd;
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212 PRIVILEGED_DATA static signed portBASE_TYPE xTracing = pdFALSE;
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213 static unsigned portBASE_TYPE uxPreviousTask = 255U;
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214 PRIVILEGED_DATA static char pcStatusString[ 50 ];
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218 /*-----------------------------------------------------------*/
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221 * Macro that writes a trace of scheduler activity to a buffer. This trace
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222 * shows which task is running when and is very useful as a debugging tool.
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223 * As this macro is called each context switch it is a good idea to undefine
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224 * it if not using the facility.
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226 #if ( configUSE_TRACE_FACILITY == 1 )
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228 #define vWriteTraceToBuffer() \
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232 if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
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234 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
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236 uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
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237 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) xTickCount; \
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238 pcTraceBuffer += sizeof( unsigned long ); \
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239 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) uxPreviousTask; \
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240 pcTraceBuffer += sizeof( unsigned long ); \
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244 xTracing = pdFALSE; \
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252 #define vWriteTraceToBuffer()
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255 /*-----------------------------------------------------------*/
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258 * Place the task represented by pxTCB into the appropriate ready queue for
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259 * the task. It is inserted at the end of the list. One quirk of this is
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260 * that if the task being inserted is at the same priority as the currently
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261 * executing task, then it will only be rescheduled after the currently
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262 * executing task has been rescheduled.
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264 #define prvAddTaskToReadyQueue( pxTCB ) \
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265 if( ( pxTCB )->uxPriority > uxTopReadyPriority ) \
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267 uxTopReadyPriority = ( pxTCB )->uxPriority; \
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269 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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270 /*-----------------------------------------------------------*/
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273 * Macro that looks at the list of tasks that are currently delayed to see if
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274 * any require waking.
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276 * Tasks are stored in the queue in the order of their wake time - meaning
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277 * once one tasks has been found whose timer has not expired we need not look
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278 * any further down the list.
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280 #define prvCheckDelayedTasks() \
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282 portTickType xItemValue; \
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284 /* Is the tick count greater than or equal to the wake time of the first \
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285 task referenced from the delayed tasks list? */ \
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286 if( xTickCount >= xNextTaskUnblockTime ) \
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290 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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292 /* The delayed list is empty. Set xNextTaskUnblockTime to the \
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293 maximum possible value so it is extremely unlikely that the \
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294 if( xTickCount >= xNextTaskUnblockTime ) test will pass next \
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296 xNextTaskUnblockTime = portMAX_DELAY; \
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301 /* The delayed list is not empty, get the value of the item at \
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302 the head of the delayed list. This is the time at which the \
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303 task at the head of the delayed list should be removed from \
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304 the Blocked state. */ \
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305 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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306 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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308 if( xTickCount < xItemValue ) \
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310 /* It is not time to unblock this item yet, but the item \
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311 value is the time at which the task at the head of the \
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312 blocked list should be removed from the Blocked state - \
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313 so record the item value in xNextTaskUnblockTime. */ \
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314 xNextTaskUnblockTime = xItemValue; \
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318 /* It is time to remove the item from the Blocked state. */ \
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319 vListRemove( &( pxTCB->xGenericListItem ) ); \
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321 /* Is the task waiting on an event also? */ \
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322 if( pxTCB->xEventListItem.pvContainer ) \
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324 vListRemove( &( pxTCB->xEventListItem ) ); \
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326 prvAddTaskToReadyQueue( pxTCB ); \
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331 /*-----------------------------------------------------------*/
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334 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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335 * where NULL is used to indicate that the handle of the currently executing
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336 * task should be used in place of the parameter. This macro simply checks to
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337 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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339 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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341 /* Callback function prototypes. --------------------------*/
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342 extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );
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343 extern void vApplicationTickHook( void );
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345 /* File private functions. --------------------------------*/
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348 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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349 * into the TCB structure.
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351 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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354 * Utility to ready all the lists used by the scheduler. This is called
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355 * automatically upon the creation of the first task.
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357 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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360 * The idle task, which as all tasks is implemented as a never ending loop.
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361 * The idle task is automatically created and added to the ready lists upon
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362 * creation of the first user task.
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364 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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365 * language extensions. The equivalent prototype for this function is:
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367 * void prvIdleTask( void *pvParameters );
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370 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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373 * Utility to free all memory allocated by the scheduler to hold a TCB,
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374 * including the stack pointed to by the TCB.
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376 * This does not free memory allocated by the task itself (i.e. memory
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377 * allocated by calls to pvPortMalloc from within the tasks application code).
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379 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
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381 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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386 * Used only by the idle task. This checks to see if anything has been placed
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387 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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388 * and its TCB deleted.
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390 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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393 * The currently executing task is entering the Blocked state. Add the task to
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394 * either the current or the overflow delayed task list.
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396 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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399 * Allocates memory from the heap for a TCB and associated stack. Checks the
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400 * allocation was successful.
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402 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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405 * Called from vTaskList. vListTasks details all the tasks currently under
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406 * control of the scheduler. The tasks may be in one of a number of lists.
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407 * prvListTaskWithinSingleList accepts a list and details the tasks from
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408 * within just that list.
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410 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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411 * NORMAL APPLICATION CODE.
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413 #if ( configUSE_TRACE_FACILITY == 1 )
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415 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
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420 * When a task is created, the stack of the task is filled with a known value.
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421 * This function determines the 'high water mark' of the task stack by
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422 * determining how much of the stack remains at the original preset value.
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424 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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426 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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435 /*-----------------------------------------------------------
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436 * TASK CREATION API documented in task.h
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437 *----------------------------------------------------------*/
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439 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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441 signed portBASE_TYPE xReturn;
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444 configASSERT( pxTaskCode );
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445 configASSERT( ( uxPriority < configMAX_PRIORITIES ) );
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447 /* Allocate the memory required by the TCB and stack for the new task,
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448 checking that the allocation was successful. */
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449 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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451 if( pxNewTCB != NULL )
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453 portSTACK_TYPE *pxTopOfStack;
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455 #if( portUSING_MPU_WRAPPERS == 1 )
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456 /* Should the task be created in privileged mode? */
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457 portBASE_TYPE xRunPrivileged;
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458 if( ( uxPriority & portPRIVILEGE_BIT ) != 0x00 )
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460 xRunPrivileged = pdTRUE;
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464 xRunPrivileged = pdFALSE;
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466 uxPriority &= ~portPRIVILEGE_BIT;
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467 #endif /* portUSING_MPU_WRAPPERS == 1 */
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469 /* Calculate the top of stack address. This depends on whether the
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470 stack grows from high memory to low (as per the 80x86) or visa versa.
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471 portSTACK_GROWTH is used to make the result positive or negative as
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472 required by the port. */
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473 #if( portSTACK_GROWTH < 0 )
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475 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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476 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( unsigned long ) pxTopOfStack ) & ( ( unsigned long ) ~portBYTE_ALIGNMENT_MASK ) );
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478 /* Check the alignment of the calculated top of stack is correct. */
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479 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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483 pxTopOfStack = pxNewTCB->pxStack;
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485 /* Check the alignment of the stack buffer is correct. */
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486 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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488 /* If we want to use stack checking on architectures that use
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489 a positive stack growth direction then we also need to store the
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490 other extreme of the stack space. */
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491 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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495 /* Setup the newly allocated TCB with the initial state of the task. */
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496 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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498 /* Initialize the TCB stack to look as if the task was already running,
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499 but had been interrupted by the scheduler. The return address is set
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500 to the start of the task function. Once the stack has been initialised
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501 the top of stack variable is updated. */
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502 #if( portUSING_MPU_WRAPPERS == 1 )
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504 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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508 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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512 /* Check the alignment of the initialised stack. */
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513 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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515 if( ( void * ) pxCreatedTask != NULL )
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517 /* Pass the TCB out - in an anonymous way. The calling function/
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518 task can use this as a handle to delete the task later if
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520 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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523 /* We are going to manipulate the task queues to add this task to a
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524 ready list, so must make sure no interrupts occur. */
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525 taskENTER_CRITICAL();
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527 uxCurrentNumberOfTasks++;
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528 if( pxCurrentTCB == NULL )
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530 /* There are no other tasks, or all the other tasks are in
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531 the suspended state - make this the current task. */
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532 pxCurrentTCB = pxNewTCB;
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534 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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536 /* This is the first task to be created so do the preliminary
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537 initialisation required. We will not recover if this call
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538 fails, but we will report the failure. */
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539 prvInitialiseTaskLists();
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544 /* If the scheduler is not already running, make this task the
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545 current task if it is the highest priority task to be created
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547 if( xSchedulerRunning == pdFALSE )
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549 if( pxCurrentTCB->uxPriority <= uxPriority )
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551 pxCurrentTCB = pxNewTCB;
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556 /* Remember the top priority to make context switching faster. Use
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557 the priority in pxNewTCB as this has been capped to a valid value. */
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558 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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560 uxTopUsedPriority = pxNewTCB->uxPriority;
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563 #if ( configUSE_TRACE_FACILITY == 1 )
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565 /* Add a counter into the TCB for tracing only. */
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566 pxNewTCB->uxTCBNumber = uxTaskNumber;
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571 prvAddTaskToReadyQueue( pxNewTCB );
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574 traceTASK_CREATE( pxNewTCB );
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576 taskEXIT_CRITICAL();
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580 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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581 traceTASK_CREATE_FAILED();
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584 if( xReturn == pdPASS )
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586 if( xSchedulerRunning != pdFALSE )
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588 /* If the created task is of a higher priority than the current task
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589 then it should run now. */
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590 if( pxCurrentTCB->uxPriority < uxPriority )
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592 portYIELD_WITHIN_API();
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599 /*-----------------------------------------------------------*/
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601 #if ( INCLUDE_vTaskDelete == 1 )
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603 void vTaskDelete( xTaskHandle pxTaskToDelete )
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607 taskENTER_CRITICAL();
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609 /* Ensure a yield is performed if the current task is being
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611 if( pxTaskToDelete == pxCurrentTCB )
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613 pxTaskToDelete = NULL;
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616 /* If null is passed in here then we are deleting ourselves. */
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617 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
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619 /* Remove task from the ready list and place in the termination list.
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620 This will stop the task from be scheduled. The idle task will check
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621 the termination list and free up any memory allocated by the
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622 scheduler for the TCB and stack. */
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623 vListRemove( &( pxTCB->xGenericListItem ) );
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625 /* Is the task waiting on an event also? */
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626 if( pxTCB->xEventListItem.pvContainer )
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628 vListRemove( &( pxTCB->xEventListItem ) );
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631 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
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633 /* Increment the ucTasksDeleted variable so the idle task knows
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634 there is a task that has been deleted and that it should therefore
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635 check the xTasksWaitingTermination list. */
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638 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
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639 can detect that the task lists need re-generating. */
\r
642 traceTASK_DELETE( pxTCB );
\r
644 taskEXIT_CRITICAL();
\r
646 /* Force a reschedule if we have just deleted the current task. */
\r
647 if( xSchedulerRunning != pdFALSE )
\r
649 if( ( void * ) pxTaskToDelete == NULL )
\r
651 portYIELD_WITHIN_API();
\r
663 /*-----------------------------------------------------------
\r
664 * TASK CONTROL API documented in task.h
\r
665 *----------------------------------------------------------*/
\r
667 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
669 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
671 portTickType xTimeToWake;
\r
672 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
674 configASSERT( pxPreviousWakeTime );
\r
675 configASSERT( ( xTimeIncrement > 0 ) );
\r
679 /* Generate the tick time at which the task wants to wake. */
\r
680 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
682 if( xTickCount < *pxPreviousWakeTime )
\r
684 /* The tick count has overflowed since this function was
\r
685 lasted called. In this case the only time we should ever
\r
686 actually delay is if the wake time has also overflowed,
\r
687 and the wake time is greater than the tick time. When this
\r
688 is the case it is as if neither time had overflowed. */
\r
689 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
691 xShouldDelay = pdTRUE;
\r
696 /* The tick time has not overflowed. In this case we will
\r
697 delay if either the wake time has overflowed, and/or the
\r
698 tick time is less than the wake time. */
\r
699 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
701 xShouldDelay = pdTRUE;
\r
705 /* Update the wake time ready for the next call. */
\r
706 *pxPreviousWakeTime = xTimeToWake;
\r
708 if( xShouldDelay != pdFALSE )
\r
710 traceTASK_DELAY_UNTIL();
\r
712 /* We must remove ourselves from the ready list before adding
\r
713 ourselves to the blocked list as the same list item is used for
\r
715 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
716 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
719 xAlreadyYielded = xTaskResumeAll();
\r
721 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
722 have put ourselves to sleep. */
\r
723 if( !xAlreadyYielded )
\r
725 portYIELD_WITHIN_API();
\r
730 /*-----------------------------------------------------------*/
\r
732 #if ( INCLUDE_vTaskDelay == 1 )
\r
734 void vTaskDelay( portTickType xTicksToDelay )
\r
736 portTickType xTimeToWake;
\r
737 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
739 /* A delay time of zero just forces a reschedule. */
\r
740 if( xTicksToDelay > ( portTickType ) 0 )
\r
746 /* A task that is removed from the event list while the
\r
747 scheduler is suspended will not get placed in the ready
\r
748 list or removed from the blocked list until the scheduler
\r
751 This task cannot be in an event list as it is the currently
\r
754 /* Calculate the time to wake - this may overflow but this is
\r
756 xTimeToWake = xTickCount + xTicksToDelay;
\r
758 /* We must remove ourselves from the ready list before adding
\r
759 ourselves to the blocked list as the same list item is used for
\r
761 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
762 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
764 xAlreadyYielded = xTaskResumeAll();
\r
767 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
768 have put ourselves to sleep. */
\r
769 if( !xAlreadyYielded )
\r
771 portYIELD_WITHIN_API();
\r
776 /*-----------------------------------------------------------*/
\r
778 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
780 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
783 unsigned portBASE_TYPE uxReturn;
\r
785 taskENTER_CRITICAL();
\r
787 /* If null is passed in here then we are changing the
\r
788 priority of the calling function. */
\r
789 pxTCB = prvGetTCBFromHandle( pxTask );
\r
790 uxReturn = pxTCB->uxPriority;
\r
792 taskEXIT_CRITICAL();
\r
798 /*-----------------------------------------------------------*/
\r
800 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
802 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
805 unsigned portBASE_TYPE uxCurrentPriority;
\r
806 portBASE_TYPE xYieldRequired = pdFALSE;
\r
808 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
810 /* Ensure the new priority is valid. */
\r
811 if( uxNewPriority >= configMAX_PRIORITIES )
\r
813 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
816 taskENTER_CRITICAL();
\r
818 if( pxTask == pxCurrentTCB )
\r
823 /* If null is passed in here then we are changing the
\r
824 priority of the calling function. */
\r
825 pxTCB = prvGetTCBFromHandle( pxTask );
\r
827 traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
\r
829 #if ( configUSE_MUTEXES == 1 )
\r
831 uxCurrentPriority = pxTCB->uxBasePriority;
\r
835 uxCurrentPriority = pxTCB->uxPriority;
\r
839 if( uxCurrentPriority != uxNewPriority )
\r
841 /* The priority change may have readied a task of higher
\r
842 priority than the calling task. */
\r
843 if( uxNewPriority > uxCurrentPriority )
\r
845 if( pxTask != NULL )
\r
847 /* The priority of another task is being raised. If we
\r
848 were raising the priority of the currently running task
\r
849 there would be no need to switch as it must have already
\r
850 been the highest priority task. */
\r
851 xYieldRequired = pdTRUE;
\r
854 else if( pxTask == NULL )
\r
856 /* Setting our own priority down means there may now be another
\r
857 task of higher priority that is ready to execute. */
\r
858 xYieldRequired = pdTRUE;
\r
863 #if ( configUSE_MUTEXES == 1 )
\r
865 /* Only change the priority being used if the task is not
\r
866 currently using an inherited priority. */
\r
867 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
869 pxTCB->uxPriority = uxNewPriority;
\r
872 /* The base priority gets set whatever. */
\r
873 pxTCB->uxBasePriority = uxNewPriority;
\r
877 pxTCB->uxPriority = uxNewPriority;
\r
881 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
883 /* If the task is in the blocked or suspended list we need do
\r
884 nothing more than change it's priority variable. However, if
\r
885 the task is in a ready list it needs to be removed and placed
\r
886 in the queue appropriate to its new priority. */
\r
887 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
889 /* The task is currently in its ready list - remove before adding
\r
890 it to it's new ready list. As we are in a critical section we
\r
891 can do this even if the scheduler is suspended. */
\r
892 vListRemove( &( pxTCB->xGenericListItem ) );
\r
893 prvAddTaskToReadyQueue( pxTCB );
\r
896 if( xYieldRequired == pdTRUE )
\r
898 portYIELD_WITHIN_API();
\r
902 taskEXIT_CRITICAL();
\r
906 /*-----------------------------------------------------------*/
\r
908 #if ( INCLUDE_vTaskSuspend == 1 )
\r
910 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
914 taskENTER_CRITICAL();
\r
916 /* Ensure a yield is performed if the current task is being
\r
918 if( pxTaskToSuspend == pxCurrentTCB )
\r
920 pxTaskToSuspend = NULL;
\r
923 /* If null is passed in here then we are suspending ourselves. */
\r
924 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
926 traceTASK_SUSPEND( pxTCB );
\r
928 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
929 vListRemove( &( pxTCB->xGenericListItem ) );
\r
931 /* Is the task waiting on an event also? */
\r
932 if( pxTCB->xEventListItem.pvContainer )
\r
934 vListRemove( &( pxTCB->xEventListItem ) );
\r
937 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
939 taskEXIT_CRITICAL();
\r
941 if( ( void * ) pxTaskToSuspend == NULL )
\r
943 if( xSchedulerRunning != pdFALSE )
\r
945 /* We have just suspended the current task. */
\r
946 portYIELD_WITHIN_API();
\r
950 /* The scheduler is not running, but the task that was pointed
\r
951 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
952 must be adjusted to point to a different task. */
\r
953 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
955 /* No other tasks are ready, so set pxCurrentTCB back to
\r
956 NULL so when the next task is created pxCurrentTCB will
\r
957 be set to point to it no matter what its relative priority
\r
959 pxCurrentTCB = NULL;
\r
963 vTaskSwitchContext();
\r
970 /*-----------------------------------------------------------*/
\r
972 #if ( INCLUDE_vTaskSuspend == 1 )
\r
974 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
976 portBASE_TYPE xReturn = pdFALSE;
\r
977 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
979 /* It does not make sense to check if the calling task is suspended. */
\r
980 configASSERT( xTask );
\r
982 /* Is the task we are attempting to resume actually in the
\r
984 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
986 /* Has the task already been resumed from within an ISR? */
\r
987 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
989 /* Is it in the suspended list because it is in the
\r
990 Suspended state? It is possible to be in the suspended
\r
991 list because it is blocked on a task with no timeout
\r
993 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
1004 /*-----------------------------------------------------------*/
\r
1006 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1008 void vTaskResume( xTaskHandle pxTaskToResume )
\r
1012 /* It does not make sense to resume the calling task. */
\r
1013 configASSERT( pxTaskToResume );
\r
1015 /* Remove the task from whichever list it is currently in, and place
\r
1016 it in the ready list. */
\r
1017 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1019 /* The parameter cannot be NULL as it is impossible to resume the
\r
1020 currently executing task. */
\r
1021 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1023 taskENTER_CRITICAL();
\r
1025 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1027 traceTASK_RESUME( pxTCB );
\r
1029 /* As we are in a critical section we can access the ready
\r
1030 lists even if the scheduler is suspended. */
\r
1031 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1032 prvAddTaskToReadyQueue( pxTCB );
\r
1034 /* We may have just resumed a higher priority task. */
\r
1035 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1037 /* This yield may not cause the task just resumed to run, but
\r
1038 will leave the lists in the correct state for the next yield. */
\r
1039 portYIELD_WITHIN_API();
\r
1043 taskEXIT_CRITICAL();
\r
1049 /*-----------------------------------------------------------*/
\r
1051 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1053 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
1055 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1058 configASSERT( pxTaskToResume );
\r
1060 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1062 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1064 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1066 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1068 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1069 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1070 prvAddTaskToReadyQueue( pxTCB );
\r
1074 /* We cannot access the delayed or ready lists, so will hold this
\r
1075 task pending until the scheduler is resumed, at which point a
\r
1076 yield will be performed if necessary. */
\r
1077 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1081 return xYieldRequired;
\r
1089 /*-----------------------------------------------------------
\r
1090 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1091 *----------------------------------------------------------*/
\r
1094 void vTaskStartScheduler( void )
\r
1096 portBASE_TYPE xReturn;
\r
1098 /* Add the idle task at the lowest priority. */
\r
1099 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1101 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1102 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1103 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );
\r
1107 /* Create the idle task without storing its handle. */
\r
1108 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
\r
1112 #if ( configUSE_TIMERS == 1 )
\r
1114 if( xReturn == pdPASS )
\r
1116 xReturn = xTimerCreateTimerTask();
\r
1121 if( xReturn == pdPASS )
\r
1123 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1124 before or during the call to xPortStartScheduler(). The stacks of
\r
1125 the created tasks contain a status word with interrupts switched on
\r
1126 so interrupts will automatically get re-enabled when the first task
\r
1129 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1130 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1131 portDISABLE_INTERRUPTS();
\r
1133 xSchedulerRunning = pdTRUE;
\r
1134 xTickCount = ( portTickType ) 0;
\r
1136 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1137 macro must be defined to configure the timer/counter used to generate
\r
1138 the run time counter time base. */
\r
1139 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1141 /* Setting up the timer tick is hardware specific and thus in the
\r
1142 portable interface. */
\r
1143 if( xPortStartScheduler() )
\r
1145 /* Should not reach here as if the scheduler is running the
\r
1146 function will not return. */
\r
1150 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1154 /* This line will only be reached if the kernel could not be started. */
\r
1155 configASSERT( xReturn );
\r
1157 /*-----------------------------------------------------------*/
\r
1159 void vTaskEndScheduler( void )
\r
1161 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1162 routine so the original ISRs can be restored if necessary. The port
\r
1163 layer must ensure interrupts enable bit is left in the correct state. */
\r
1164 portDISABLE_INTERRUPTS();
\r
1165 xSchedulerRunning = pdFALSE;
\r
1166 vPortEndScheduler();
\r
1168 /*----------------------------------------------------------*/
\r
1170 void vTaskSuspendAll( void )
\r
1172 /* A critical section is not required as the variable is of type
\r
1174 ++uxSchedulerSuspended;
\r
1176 /*----------------------------------------------------------*/
\r
1178 signed portBASE_TYPE xTaskResumeAll( void )
\r
1180 register tskTCB *pxTCB;
\r
1181 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1183 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1184 previous call to vTaskSuspendAll(). */
\r
1185 configASSERT( uxSchedulerSuspended );
\r
1187 /* It is possible that an ISR caused a task to be removed from an event
\r
1188 list while the scheduler was suspended. If this was the case then the
\r
1189 removed task will have been added to the xPendingReadyList. Once the
\r
1190 scheduler has been resumed it is safe to move all the pending ready
\r
1191 tasks from this list into their appropriate ready list. */
\r
1192 taskENTER_CRITICAL();
\r
1194 --uxSchedulerSuspended;
\r
1196 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1198 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
\r
1200 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1202 /* Move any readied tasks from the pending list into the
\r
1203 appropriate ready list. */
\r
1204 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1206 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1207 vListRemove( &( pxTCB->xEventListItem ) );
\r
1208 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1209 prvAddTaskToReadyQueue( pxTCB );
\r
1211 /* If we have moved a task that has a priority higher than
\r
1212 the current task then we should yield. */
\r
1213 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1215 xYieldRequired = pdTRUE;
\r
1219 /* If any ticks occurred while the scheduler was suspended then
\r
1220 they should be processed now. This ensures the tick count does not
\r
1221 slip, and that any delayed tasks are resumed at the correct time. */
\r
1222 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1224 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1226 vTaskIncrementTick();
\r
1230 /* As we have processed some ticks it is appropriate to yield
\r
1231 to ensure the highest priority task that is ready to run is
\r
1232 the task actually running. */
\r
1233 #if configUSE_PREEMPTION == 1
\r
1235 xYieldRequired = pdTRUE;
\r
1240 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1242 xAlreadyYielded = pdTRUE;
\r
1243 xMissedYield = pdFALSE;
\r
1244 portYIELD_WITHIN_API();
\r
1249 taskEXIT_CRITICAL();
\r
1251 return xAlreadyYielded;
\r
1259 /*-----------------------------------------------------------
\r
1260 * PUBLIC TASK UTILITIES documented in task.h
\r
1261 *----------------------------------------------------------*/
\r
1265 portTickType xTaskGetTickCount( void )
\r
1267 portTickType xTicks;
\r
1269 /* Critical section required if running on a 16 bit processor. */
\r
1270 taskENTER_CRITICAL();
\r
1272 xTicks = xTickCount;
\r
1274 taskEXIT_CRITICAL();
\r
1278 /*-----------------------------------------------------------*/
\r
1280 portTickType xTaskGetTickCountFromISR( void )
\r
1282 portTickType xReturn;
\r
1283 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1285 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1286 xReturn = xTickCount;
\r
1287 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1291 /*-----------------------------------------------------------*/
\r
1293 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1295 /* A critical section is not required because the variables are of type
\r
1297 return uxCurrentNumberOfTasks;
\r
1299 /*-----------------------------------------------------------*/
\r
1301 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1305 /* If null is passed in here then the name of the calling task is being queried. */
\r
1306 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1307 configASSERT( pxTCB );
\r
1308 return &( pxTCB->pcTaskName[ 0 ] );
\r
1310 /*-----------------------------------------------------------*/
\r
1312 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1314 void vTaskList( signed char *pcWriteBuffer )
\r
1316 unsigned portBASE_TYPE uxQueue;
\r
1318 /* This is a VERY costly function that should be used for debug only.
\r
1319 It leaves interrupts disabled for a LONG time. */
\r
1321 vTaskSuspendAll();
\r
1323 /* Run through all the lists that could potentially contain a TCB and
\r
1324 report the task name, state and stack high water mark. */
\r
1326 *pcWriteBuffer = ( signed char ) 0x00;
\r
1327 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1329 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1335 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1337 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1339 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1341 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1343 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1346 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1348 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1351 #if( INCLUDE_vTaskDelete == 1 )
\r
1353 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1355 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1360 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1362 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1364 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1373 /*----------------------------------------------------------*/
\r
1375 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1377 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1379 unsigned portBASE_TYPE uxQueue;
\r
1380 unsigned long ulTotalRunTime;
\r
1382 /* This is a VERY costly function that should be used for debug only.
\r
1383 It leaves interrupts disabled for a LONG time. */
\r
1385 vTaskSuspendAll();
\r
1387 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1388 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1390 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1393 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1394 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1395 ulTotalRunTime /= 100UL;
\r
1397 /* Run through all the lists that could potentially contain a TCB,
\r
1398 generating a table of run timer percentages in the provided
\r
1401 *pcWriteBuffer = ( signed char ) 0x00;
\r
1402 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1404 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1410 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1412 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
\r
1414 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1416 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1418 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
\r
1421 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1423 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
\r
1426 #if ( INCLUDE_vTaskDelete == 1 )
\r
1428 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1430 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, ulTotalRunTime );
\r
1435 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1437 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1439 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, ulTotalRunTime );
\r
1448 /*----------------------------------------------------------*/
\r
1450 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1452 void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize )
\r
1454 configASSERT( pcBuffer );
\r
1455 configASSERT( ulBufferSize );
\r
1457 taskENTER_CRITICAL();
\r
1459 pcTraceBuffer = ( signed char * )pcBuffer;
\r
1460 pcTraceBufferStart = pcBuffer;
\r
1461 pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
\r
1462 xTracing = pdTRUE;
\r
1464 taskEXIT_CRITICAL();
\r
1468 /*----------------------------------------------------------*/
\r
1470 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1472 unsigned long ulTaskEndTrace( void )
\r
1474 unsigned long ulBufferLength;
\r
1476 taskENTER_CRITICAL();
\r
1477 xTracing = pdFALSE;
\r
1478 taskEXIT_CRITICAL();
\r
1480 ulBufferLength = ( unsigned long ) ( pcTraceBuffer - pcTraceBufferStart );
\r
1482 return ulBufferLength;
\r
1486 /*----------------------------------------------------------*/
\r
1488 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1490 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1492 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1493 started, then xIdleTaskHandle will be NULL. */
\r
1494 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1495 return xIdleTaskHandle;
\r
1500 /*-----------------------------------------------------------
\r
1501 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1502 * documented in task.h
\r
1503 *----------------------------------------------------------*/
\r
1506 void vTaskIncrementTick( void )
\r
1510 /* Called by the portable layer each time a tick interrupt occurs.
\r
1511 Increments the tick then checks to see if the new tick value will cause any
\r
1512 tasks to be unblocked. */
\r
1513 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1516 if( xTickCount == ( portTickType ) 0 )
\r
1520 /* Tick count has overflowed so we need to swap the delay lists.
\r
1521 If there are any items in pxDelayedTaskList here then there is
\r
1523 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );
\r
1525 pxTemp = pxDelayedTaskList;
\r
1526 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1527 pxOverflowDelayedTaskList = pxTemp;
\r
1528 xNumOfOverflows++;
\r
1530 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1532 /* The new current delayed list is empty. Set
\r
1533 xNextTaskUnblockTime to the maximum possible value so it is
\r
1534 extremely unlikely that the
\r
1535 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
1536 there is an item in the delayed list. */
\r
1537 xNextTaskUnblockTime = portMAX_DELAY;
\r
1541 /* The new current delayed list is not empty, get the value of
\r
1542 the item at the head of the delayed list. This is the time at
\r
1543 which the task at the head of the delayed list should be removed
\r
1544 from the Blocked state. */
\r
1545 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1546 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1550 /* See if this tick has made a timeout expire. */
\r
1551 prvCheckDelayedTasks();
\r
1557 /* The tick hook gets called at regular intervals, even if the
\r
1558 scheduler is locked. */
\r
1559 #if ( configUSE_TICK_HOOK == 1 )
\r
1561 vApplicationTickHook();
\r
1566 #if ( configUSE_TICK_HOOK == 1 )
\r
1568 /* Guard against the tick hook being called when the missed tick
\r
1569 count is being unwound (when the scheduler is being unlocked. */
\r
1570 if( uxMissedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1572 vApplicationTickHook();
\r
1577 traceTASK_INCREMENT_TICK( xTickCount );
\r
1579 /*-----------------------------------------------------------*/
\r
1581 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1583 void vTaskCleanUpResources( void )
\r
1585 unsigned short usQueue;
\r
1586 volatile tskTCB *pxTCB;
\r
1588 usQueue = ( unsigned short ) uxTopUsedPriority + ( unsigned short ) 1;
\r
1590 /* Remove any TCB's from the ready queues. */
\r
1595 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) == pdFALSE )
\r
1597 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
\r
1598 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1600 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1602 }while( usQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1604 /* Remove any TCB's from the delayed queue. */
\r
1605 while( listLIST_IS_EMPTY( &xDelayedTaskList1 ) == pdFALSE )
\r
1607 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
\r
1608 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1610 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1613 /* Remove any TCB's from the overflow delayed queue. */
\r
1614 while( listLIST_IS_EMPTY( &xDelayedTaskList2 ) == pdFALSE )
\r
1616 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
\r
1617 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1619 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1622 while( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1624 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
\r
1625 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1627 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1632 /*-----------------------------------------------------------*/
\r
1634 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1636 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1640 /* If xTask is NULL then we are setting our own task hook. */
\r
1641 if( xTask == NULL )
\r
1643 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1647 xTCB = ( tskTCB * ) xTask;
\r
1650 /* Save the hook function in the TCB. A critical section is required as
\r
1651 the value can be accessed from an interrupt. */
\r
1652 taskENTER_CRITICAL();
\r
1653 xTCB->pxTaskTag = pxHookFunction;
\r
1654 taskEXIT_CRITICAL();
\r
1658 /*-----------------------------------------------------------*/
\r
1660 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1662 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1665 pdTASK_HOOK_CODE xReturn;
\r
1667 /* If xTask is NULL then we are setting our own task hook. */
\r
1668 if( xTask == NULL )
\r
1670 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1674 xTCB = ( tskTCB * ) xTask;
\r
1677 /* Save the hook function in the TCB. A critical section is required as
\r
1678 the value can be accessed from an interrupt. */
\r
1679 taskENTER_CRITICAL();
\r
1680 xReturn = xTCB->pxTaskTag;
\r
1681 taskEXIT_CRITICAL();
\r
1687 /*-----------------------------------------------------------*/
\r
1689 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1691 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1694 portBASE_TYPE xReturn;
\r
1696 /* If xTask is NULL then we are calling our own task hook. */
\r
1697 if( xTask == NULL )
\r
1699 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1703 xTCB = ( tskTCB * ) xTask;
\r
1706 if( xTCB->pxTaskTag != NULL )
\r
1708 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1719 /*-----------------------------------------------------------*/
\r
1721 void vTaskSwitchContext( void )
\r
1723 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1725 /* The scheduler is currently suspended - do not allow a context
\r
1727 xMissedYield = pdTRUE;
\r
1731 traceTASK_SWITCHED_OUT();
\r
1733 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1735 unsigned long ulTempCounter;
\r
1737 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1738 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter );
\r
1740 ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
\r
1743 /* Add the amount of time the task has been running to the accumulated
\r
1744 time so far. The time the task started running was stored in
\r
1745 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1746 so count values are only valid until the timer overflows. Generally
\r
1747 this will be about 1 hour assuming a 1uS timer increment. */
\r
1748 pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
\r
1749 ulTaskSwitchedInTime = ulTempCounter;
\r
1753 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1754 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1756 /* Find the highest priority queue that contains ready tasks. */
\r
1757 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1759 configASSERT( uxTopReadyPriority );
\r
1760 --uxTopReadyPriority;
\r
1763 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1764 same priority get an equal share of the processor time. */
\r
1765 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1767 traceTASK_SWITCHED_IN();
\r
1768 vWriteTraceToBuffer();
\r
1771 /*-----------------------------------------------------------*/
\r
1773 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1775 portTickType xTimeToWake;
\r
1777 configASSERT( pxEventList );
\r
1779 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1780 SCHEDULER SUSPENDED. */
\r
1782 /* Place the event list item of the TCB in the appropriate event list.
\r
1783 This is placed in the list in priority order so the highest priority task
\r
1784 is the first to be woken by the event. */
\r
1785 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1787 /* We must remove ourselves from the ready list before adding ourselves
\r
1788 to the blocked list as the same list item is used for both lists. We have
\r
1789 exclusive access to the ready lists as the scheduler is locked. */
\r
1790 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1793 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1795 if( xTicksToWait == portMAX_DELAY )
\r
1797 /* Add ourselves to the suspended task list instead of a delayed task
\r
1798 list to ensure we are not woken by a timing event. We will block
\r
1800 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1804 /* Calculate the time at which the task should be woken if the event does
\r
1805 not occur. This may overflow but this doesn't matter. */
\r
1806 xTimeToWake = xTickCount + xTicksToWait;
\r
1807 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1812 /* Calculate the time at which the task should be woken if the event does
\r
1813 not occur. This may overflow but this doesn't matter. */
\r
1814 xTimeToWake = xTickCount + xTicksToWait;
\r
1815 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1819 /*-----------------------------------------------------------*/
\r
1821 #if configUSE_TIMERS == 1
\r
1823 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1825 portTickType xTimeToWake;
\r
1827 configASSERT( pxEventList );
\r
1829 /* This function should not be called by application code hence the
\r
1830 'Restricted' in its name. It is not part of the public API. It is
\r
1831 designed for use by kernel code, and has special calling requirements -
\r
1832 it should be called from a critical section. */
\r
1835 /* Place the event list item of the TCB in the appropriate event list.
\r
1836 In this case it is assume that this is the only task that is going to
\r
1837 be waiting on this event list, so the faster vListInsertEnd() function
\r
1838 can be used in place of vListInsert. */
\r
1839 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1841 /* We must remove this task from the ready list before adding it to the
\r
1842 blocked list as the same list item is used for both lists. This
\r
1843 function is called form a critical section. */
\r
1844 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1846 /* Calculate the time at which the task should be woken if the event does
\r
1847 not occur. This may overflow but this doesn't matter. */
\r
1848 xTimeToWake = xTickCount + xTicksToWait;
\r
1849 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1852 #endif /* configUSE_TIMERS */
\r
1853 /*-----------------------------------------------------------*/
\r
1855 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1857 tskTCB *pxUnblockedTCB;
\r
1858 portBASE_TYPE xReturn;
\r
1860 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1861 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1863 /* The event list is sorted in priority order, so we can remove the
\r
1864 first in the list, remove the TCB from the delayed list, and add
\r
1865 it to the ready list.
\r
1867 If an event is for a queue that is locked then this function will never
\r
1868 get called - the lock count on the queue will get modified instead. This
\r
1869 means we can always expect exclusive access to the event list here.
\r
1871 This function assumes that a check has already been made to ensure that
\r
1872 pxEventList is not empty. */
\r
1873 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1874 configASSERT( pxUnblockedTCB );
\r
1875 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1877 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1879 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1880 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1884 /* We cannot access the delayed or ready lists, so will hold this
\r
1885 task pending until the scheduler is resumed. */
\r
1886 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1889 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1891 /* Return true if the task removed from the event list has
\r
1892 a higher priority than the calling task. This allows
\r
1893 the calling task to know if it should force a context
\r
1899 xReturn = pdFALSE;
\r
1904 /*-----------------------------------------------------------*/
\r
1906 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1908 configASSERT( pxTimeOut );
\r
1909 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1910 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1912 /*-----------------------------------------------------------*/
\r
1914 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1916 portBASE_TYPE xReturn;
\r
1918 configASSERT( pxTimeOut );
\r
1919 configASSERT( pxTicksToWait );
\r
1921 taskENTER_CRITICAL();
\r
1923 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1924 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1925 the maximum block time then the task should block indefinitely, and
\r
1926 therefore never time out. */
\r
1927 if( *pxTicksToWait == portMAX_DELAY )
\r
1929 xReturn = pdFALSE;
\r
1931 else /* We are not blocking indefinitely, perform the checks below. */
\r
1934 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
1936 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1937 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1938 It must have wrapped all the way around and gone past us again. This
\r
1939 passed since vTaskSetTimeout() was called. */
\r
1942 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
1944 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1945 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
1946 vTaskSetTimeOutState( pxTimeOut );
\r
1947 xReturn = pdFALSE;
\r
1954 taskEXIT_CRITICAL();
\r
1958 /*-----------------------------------------------------------*/
\r
1960 void vTaskMissedYield( void )
\r
1962 xMissedYield = pdTRUE;
\r
1966 * -----------------------------------------------------------
\r
1968 * ----------------------------------------------------------
\r
1970 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1971 * language extensions. The equivalent prototype for this function is:
\r
1973 * void prvIdleTask( void *pvParameters );
\r
1976 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1978 /* Stop warnings. */
\r
1979 ( void ) pvParameters;
\r
1983 /* See if any tasks have been deleted. */
\r
1984 prvCheckTasksWaitingTermination();
\r
1986 #if ( configUSE_PREEMPTION == 0 )
\r
1988 /* If we are not using preemption we keep forcing a task switch to
\r
1989 see if any other task has become available. If we are using
\r
1990 preemption we don't need to do this as any task becoming available
\r
1991 will automatically get the processor anyway. */
\r
1996 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1998 /* When using preemption tasks of equal priority will be
\r
1999 timesliced. If a task that is sharing the idle priority is ready
\r
2000 to run then the idle task should yield before the end of the
\r
2003 A critical region is not required here as we are just reading from
\r
2004 the list, and an occasional incorrect value will not matter. If
\r
2005 the ready list at the idle priority contains more than one task
\r
2006 then a task other than the idle task is ready to execute. */
\r
2007 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2014 #if ( configUSE_IDLE_HOOK == 1 )
\r
2016 extern void vApplicationIdleHook( void );
\r
2018 /* Call the user defined function from within the idle task. This
\r
2019 allows the application designer to add background functionality
\r
2020 without the overhead of a separate task.
\r
2021 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2022 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2023 vApplicationIdleHook();
\r
2027 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
2035 /*-----------------------------------------------------------
\r
2036 * File private functions documented at the top of the file.
\r
2037 *----------------------------------------------------------*/
\r
2041 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2043 /* Store the function name in the TCB. */
\r
2044 #if configMAX_TASK_NAME_LEN > 1
\r
2046 /* Don't bring strncpy into the build unnecessarily. */
\r
2047 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
2050 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
\r
2052 /* This is used as an array index so must ensure it's not too large. First
\r
2053 remove the privilege bit if one is present. */
\r
2054 if( uxPriority >= configMAX_PRIORITIES )
\r
2056 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2059 pxTCB->uxPriority = uxPriority;
\r
2060 #if ( configUSE_MUTEXES == 1 )
\r
2062 pxTCB->uxBasePriority = uxPriority;
\r
2066 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2067 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2069 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2070 back to the containing TCB from a generic item in a list. */
\r
2071 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2073 /* Event lists are always in priority order. */
\r
2074 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
2075 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2077 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2079 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
\r
2083 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2085 pxTCB->pxTaskTag = NULL;
\r
2089 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2091 pxTCB->ulRunTimeCounter = 0UL;
\r
2095 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2097 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2101 ( void ) xRegions;
\r
2102 ( void ) usStackDepth;
\r
2106 /*-----------------------------------------------------------*/
\r
2108 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2110 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2114 if( xTaskToModify == pxCurrentTCB )
\r
2116 xTaskToModify = NULL;
\r
2119 /* If null is passed in here then we are deleting ourselves. */
\r
2120 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2122 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2124 /*-----------------------------------------------------------*/
\r
2127 static void prvInitialiseTaskLists( void )
\r
2129 unsigned portBASE_TYPE uxPriority;
\r
2131 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2133 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2136 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2137 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2138 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2140 #if ( INCLUDE_vTaskDelete == 1 )
\r
2142 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2146 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2148 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2152 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2154 pxDelayedTaskList = &xDelayedTaskList1;
\r
2155 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2157 /*-----------------------------------------------------------*/
\r
2159 static void prvCheckTasksWaitingTermination( void )
\r
2161 #if ( INCLUDE_vTaskDelete == 1 )
\r
2163 portBASE_TYPE xListIsEmpty;
\r
2165 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2166 too often in the idle task. */
\r
2167 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
\r
2169 vTaskSuspendAll();
\r
2170 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2173 if( xListIsEmpty == pdFALSE )
\r
2177 taskENTER_CRITICAL();
\r
2179 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2180 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2181 --uxCurrentNumberOfTasks;
\r
2184 taskEXIT_CRITICAL();
\r
2186 prvDeleteTCB( pxTCB );
\r
2192 /*-----------------------------------------------------------*/
\r
2194 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2196 /* The list item will be inserted in wake time order. */
\r
2197 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2199 if( xTimeToWake < xTickCount )
\r
2201 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2202 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2206 /* The wake time has not overflowed, so we can use the current block list. */
\r
2207 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2209 /* If the task entering the blocked state was placed at the head of the
\r
2210 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2212 if( xTimeToWake < xNextTaskUnblockTime )
\r
2214 xNextTaskUnblockTime = xTimeToWake;
\r
2218 /*-----------------------------------------------------------*/
\r
2220 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2224 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2225 the implementation of the port malloc function. */
\r
2226 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2228 if( pxNewTCB != NULL )
\r
2230 /* Allocate space for the stack used by the task being created.
\r
2231 The base of the stack memory stored in the TCB so the task can
\r
2232 be deleted later if required. */
\r
2233 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2235 if( pxNewTCB->pxStack == NULL )
\r
2237 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2238 vPortFree( pxNewTCB );
\r
2243 /* Just to help debugging. */
\r
2244 memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2250 /*-----------------------------------------------------------*/
\r
2252 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2254 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2256 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2257 unsigned short usStackRemaining;
\r
2259 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2260 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2263 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2264 #if ( portSTACK_GROWTH > 0 )
\r
2266 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2270 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2274 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
2275 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2277 } while( pxNextTCB != pxFirstTCB );
\r
2281 /*-----------------------------------------------------------*/
\r
2283 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2285 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
\r
2287 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2288 unsigned long ulStatsAsPercentage;
\r
2290 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2291 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2294 /* Get next TCB in from the list. */
\r
2295 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2297 /* Divide by zero check. */
\r
2298 if( ulTotalRunTime > 0UL )
\r
2300 /* Has the task run at all? */
\r
2301 if( pxNextTCB->ulRunTimeCounter == 0 )
\r
2303 /* The task has used no CPU time at all. */
\r
2304 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2308 /* What percentage of the total run time has the task used?
\r
2309 This will always be rounded down to the nearest integer.
\r
2310 ulTotalRunTime has already been divided by 100. */
\r
2311 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime;
\r
2313 if( ulStatsAsPercentage > 0UL )
\r
2315 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2317 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2321 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2322 printf() library can be used. */
\r
2323 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2329 /* If the percentage is zero here then the task has
\r
2330 consumed less than 1% of the total run time. */
\r
2331 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2333 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2337 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2338 printf() library can be used. */
\r
2339 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2345 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2348 } while( pxNextTCB != pxFirstTCB );
\r
2352 /*-----------------------------------------------------------*/
\r
2354 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2356 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2358 register unsigned short usCount = 0;
\r
2360 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2362 pucStackByte -= portSTACK_GROWTH;
\r
2366 usCount /= sizeof( portSTACK_TYPE );
\r
2372 /*-----------------------------------------------------------*/
\r
2374 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2376 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2379 unsigned char *pcEndOfStack;
\r
2380 unsigned portBASE_TYPE uxReturn;
\r
2382 pxTCB = prvGetTCBFromHandle( xTask );
\r
2384 #if portSTACK_GROWTH < 0
\r
2386 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2390 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2394 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2400 /*-----------------------------------------------------------*/
\r
2402 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
\r
2404 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2406 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2407 the task to free any memory allocated at the application level. */
\r
2408 vPortFreeAligned( pxTCB->pxStack );
\r
2409 vPortFree( pxTCB );
\r
2415 /*-----------------------------------------------------------*/
\r
2417 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2419 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2421 xTaskHandle xReturn;
\r
2423 /* A critical section is not required as this is not called from
\r
2424 an interrupt and the current TCB will always be the same for any
\r
2425 individual execution thread. */
\r
2426 xReturn = pxCurrentTCB;
\r
2433 /*-----------------------------------------------------------*/
\r
2435 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2437 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2439 portBASE_TYPE xReturn;
\r
2441 if( xSchedulerRunning == pdFALSE )
\r
2443 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2447 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2449 xReturn = taskSCHEDULER_RUNNING;
\r
2453 xReturn = taskSCHEDULER_SUSPENDED;
\r
2461 /*-----------------------------------------------------------*/
\r
2463 #if ( configUSE_MUTEXES == 1 )
\r
2465 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2467 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2469 configASSERT( pxMutexHolder );
\r
2471 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2473 /* Adjust the mutex holder state to account for its new priority. */
\r
2474 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2476 /* If the task being modified is in the ready state it will need to
\r
2477 be moved in to a new list. */
\r
2478 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
2480 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2482 /* Inherit the priority before being moved into the new list. */
\r
2483 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2484 prvAddTaskToReadyQueue( pxTCB );
\r
2488 /* Just inherit the priority. */
\r
2489 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2495 /*-----------------------------------------------------------*/
\r
2497 #if ( configUSE_MUTEXES == 1 )
\r
2499 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2501 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2503 if( pxMutexHolder != NULL )
\r
2505 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2507 /* We must be the running task to be able to give the mutex back.
\r
2508 Remove ourselves from the ready list we currently appear in. */
\r
2509 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2511 /* Disinherit the priority before adding ourselves into the new
\r
2513 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2514 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2515 prvAddTaskToReadyQueue( pxTCB );
\r
2521 /*-----------------------------------------------------------*/
\r
2523 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2525 void vTaskEnterCritical( void )
\r
2527 portDISABLE_INTERRUPTS();
\r
2529 if( xSchedulerRunning != pdFALSE )
\r
2531 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2536 /*-----------------------------------------------------------*/
\r
2538 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2540 void vTaskExitCritical( void )
\r
2542 if( xSchedulerRunning != pdFALSE )
\r
2544 if( pxCurrentTCB->uxCriticalNesting > 0 )
\r
2546 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2548 if( pxCurrentTCB->uxCriticalNesting == 0 )
\r
2550 portENABLE_INTERRUPTS();
\r
2557 /*-----------------------------------------------------------*/
\r
projects / freertos / blob