2 FreeRTOS V6.0.1 - Copyright (C) 2009 Real Time Engineers Ltd.
\r
4 ***************************************************************************
\r
8 * + New to FreeRTOS, *
\r
9 * + Wanting to learn FreeRTOS or multitasking in general quickly *
\r
10 * + Looking for basic training, *
\r
11 * + Wanting to improve your FreeRTOS skills and productivity *
\r
13 * then take a look at the FreeRTOS eBook *
\r
15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
\r
16 * http://www.FreeRTOS.org/Documentation *
\r
18 * A pdf reference manual is also available. Both are usually delivered *
\r
19 * to your inbox within 20 minutes to two hours when purchased between 8am *
\r
20 * and 8pm GMT (although please allow up to 24 hours in case of *
\r
21 * exceptional circumstances). Thank you for your support! *
\r
23 ***************************************************************************
\r
25 This file is part of the FreeRTOS distribution.
\r
27 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
28 the terms of the GNU General Public License (version 2) as published by the
\r
29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
\r
30 ***NOTE*** The exception to the GPL is included to allow you to distribute
\r
31 a combined work that includes FreeRTOS without being obliged to provide the
\r
32 source code for proprietary components outside of the FreeRTOS kernel.
\r
33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
\r
34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
\r
35 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
\r
36 more details. You should have received a copy of the GNU General Public
\r
37 License and the FreeRTOS license exception along with FreeRTOS; if not it
\r
38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
\r
39 by writing to Richard Barry, contact details for whom are available on the
\r
44 http://www.FreeRTOS.org - Documentation, latest information, license and
\r
47 http://www.SafeRTOS.com - A version that is certified for use in safety
\r
50 http://www.OpenRTOS.com - Commercial support, development, porting,
\r
51 licensing and training services.
\r
59 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
\r
60 all the API functions to use the MPU wrappers. That should only be done when
\r
61 task.h is included from an application file. */
\r
62 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
\r
64 #include "FreeRTOS.h"
\r
66 #include "StackMacros.h"
\r
68 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
\r
71 * Macro to define the amount of stack available to the idle task.
\r
73 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
\r
75 #define tskIDLE_PRIORITY ( ( unsigned portBASE_TYPE ) 0 )
\r
78 * Task control block. A task control block (TCB) is allocated to each task,
\r
79 * and stores the context of the task.
\r
81 typedef struct tskTaskControlBlock
\r
83 volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE STRUCT. */
\r
85 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
86 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE STRUCT. */
\r
89 xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
\r
90 xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
\r
91 unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
\r
92 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
\r
93 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
\r
95 #if ( portSTACK_GROWTH > 0 )
\r
96 portSTACK_TYPE *pxEndOfStack; /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
\r
99 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
100 unsigned portBASE_TYPE uxCriticalNesting;
\r
103 #if ( configUSE_TRACE_FACILITY == 1 )
\r
104 unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
\r
107 #if ( configUSE_MUTEXES == 1 )
\r
108 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
\r
111 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
112 pdTASK_HOOK_CODE pxTaskTag;
\r
115 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
116 unsigned long ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
\r
123 * Some kernel aware debuggers require data to be viewed to be global, rather
\r
126 #ifdef portREMOVE_STATIC_QUALIFIER
\r
131 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
\r
133 /* Lists for ready and blocked tasks. --------------------*/
\r
135 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
\r
136 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
\r
137 PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
\r
138 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
\r
139 PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
\r
140 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */
\r
142 #if ( INCLUDE_vTaskDelete == 1 )
\r
144 PRIVILEGED_DATA static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
\r
145 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
\r
149 #if ( INCLUDE_vTaskSuspend == 1 )
\r
151 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
\r
155 /* File private variables. --------------------------------*/
\r
156 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
\r
157 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0;
\r
158 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
\r
159 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
\r
160 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
\r
161 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
\r
162 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
\r
163 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
\r
164 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
\r
165 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0;
\r
167 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
169 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
\r
170 PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
\r
171 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
\r
175 /* Debugging and trace facilities private variables and macros. ------------*/
\r
178 * The value used to fill the stack of a task when the task is created. This
\r
179 * is used purely for checking the high water mark for tasks.
\r
181 #define tskSTACK_FILL_BYTE ( 0xa5 )
\r
184 * Macros used by vListTask to indicate which state a task is in.
\r
186 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
\r
187 #define tskREADY_CHAR ( ( signed char ) 'R' )
\r
188 #define tskDELETED_CHAR ( ( signed char ) 'D' )
\r
189 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
\r
192 * Macros and private variables used by the trace facility.
\r
194 #if ( configUSE_TRACE_FACILITY == 1 )
\r
196 #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned long ) ( sizeof( unsigned long ) + sizeof( unsigned long ) ) )
\r
197 PRIVILEGED_DATA static volatile signed char * volatile pcTraceBuffer;
\r
198 PRIVILEGED_DATA static signed char *pcTraceBufferStart;
\r
199 PRIVILEGED_DATA static signed char *pcTraceBufferEnd;
\r
200 PRIVILEGED_DATA static signed portBASE_TYPE xTracing = pdFALSE;
\r
201 static unsigned portBASE_TYPE uxPreviousTask = 255;
\r
202 PRIVILEGED_DATA static char pcStatusString[ 50 ];
\r
206 /*-----------------------------------------------------------*/
\r
209 * Macro that writes a trace of scheduler activity to a buffer. This trace
\r
210 * shows which task is running when and is very useful as a debugging tool.
\r
211 * As this macro is called each context switch it is a good idea to undefine
\r
212 * it if not using the facility.
\r
214 #if ( configUSE_TRACE_FACILITY == 1 )
\r
216 #define vWriteTraceToBuffer() \
\r
220 if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
\r
222 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
\r
224 uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
\r
225 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) xTickCount; \
\r
226 pcTraceBuffer += sizeof( unsigned long ); \
\r
227 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) uxPreviousTask; \
\r
228 pcTraceBuffer += sizeof( unsigned long ); \
\r
232 xTracing = pdFALSE; \
\r
240 #define vWriteTraceToBuffer()
\r
243 /*-----------------------------------------------------------*/
\r
246 * Place the task represented by pxTCB into the appropriate ready queue for
\r
247 * the task. It is inserted at the end of the list. One quirk of this is
\r
248 * that if the task being inserted is at the same priority as the currently
\r
249 * executing task, then it will only be rescheduled after the currently
\r
250 * executing task has been rescheduled.
\r
252 #define prvAddTaskToReadyQueue( pxTCB ) \
\r
254 if( pxTCB->uxPriority > uxTopReadyPriority ) \
\r
256 uxTopReadyPriority = pxTCB->uxPriority; \
\r
258 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \
\r
260 /*-----------------------------------------------------------*/
\r
263 * Macro that looks at the list of tasks that are currently delayed to see if
\r
264 * any require waking.
\r
266 * Tasks are stored in the queue in the order of their wake time - meaning
\r
267 * once one tasks has been found whose timer has not expired we need not look
\r
268 * any further down the list.
\r
270 #define prvCheckDelayedTasks() \
\r
272 register tskTCB *pxTCB; \
\r
274 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \
\r
276 if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \
\r
280 vListRemove( &( pxTCB->xGenericListItem ) ); \
\r
281 /* Is the task waiting on an event also? */ \
\r
282 if( pxTCB->xEventListItem.pvContainer ) \
\r
284 vListRemove( &( pxTCB->xEventListItem ) ); \
\r
286 prvAddTaskToReadyQueue( pxTCB ); \
\r
289 /*-----------------------------------------------------------*/
\r
292 * Several functions take an xTaskHandle parameter that can optionally be NULL,
\r
293 * where NULL is used to indicate that the handle of the currently executing
\r
294 * task should be used in place of the parameter. This macro simply checks to
\r
295 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
\r
297 #define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )
\r
300 /* File private functions. --------------------------------*/
\r
303 * Utility to ready a TCB for a given task. Mainly just copies the parameters
\r
304 * into the TCB structure.
\r
306 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
\r
309 * Utility to ready all the lists used by the scheduler. This is called
\r
310 * automatically upon the creation of the first task.
\r
312 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
\r
315 * The idle task, which as all tasks is implemented as a never ending loop.
\r
316 * The idle task is automatically created and added to the ready lists upon
\r
317 * creation of the first user task.
\r
319 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
\r
320 * language extensions. The equivalent prototype for this function is:
\r
322 * void prvIdleTask( void *pvParameters );
\r
325 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
\r
328 * Utility to free all memory allocated by the scheduler to hold a TCB,
\r
329 * including the stack pointed to by the TCB.
\r
331 * This does not free memory allocated by the task itself (i.e. memory
\r
332 * allocated by calls to pvPortMalloc from within the tasks application code).
\r
334 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
\r
336 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
\r
341 * Used only by the idle task. This checks to see if anything has been placed
\r
342 * in the list of tasks waiting to be deleted. If so the task is cleaned up
\r
343 * and its TCB deleted.
\r
345 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
\r
348 * Allocates memory from the heap for a TCB and associated stack. Checks the
\r
349 * allocation was successful.
\r
351 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
\r
354 * Called from vTaskList. vListTasks details all the tasks currently under
\r
355 * control of the scheduler. The tasks may be in one of a number of lists.
\r
356 * prvListTaskWithinSingleList accepts a list and details the tasks from
\r
357 * within just that list.
\r
359 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
\r
360 * NORMAL APPLICATION CODE.
\r
362 #if ( configUSE_TRACE_FACILITY == 1 )
\r
364 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
\r
369 * When a task is created, the stack of the task is filled with a known value.
\r
370 * This function determines the 'high water mark' of the task stack by
\r
371 * determining how much of the stack remains at the original preset value.
\r
373 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
375 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
\r
384 /*-----------------------------------------------------------
\r
385 * TASK CREATION API documented in task.h
\r
386 *----------------------------------------------------------*/
\r
388 signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
\r
390 signed portBASE_TYPE xReturn;
\r
393 /* Allocate the memory required by the TCB and stack for the new task,
\r
394 checking that the allocation was successful. */
\r
395 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
\r
397 if( pxNewTCB != NULL )
\r
399 portSTACK_TYPE *pxTopOfStack;
\r
401 #if( portUSING_MPU_WRAPPERS == 1 )
\r
402 /* Should the task be created in privileged mode? */
\r
403 portBASE_TYPE xRunPrivileged;
\r
404 if( ( uxPriority & portPRIVILEGE_BIT ) != 0x00 )
\r
406 xRunPrivileged = pdTRUE;
\r
410 xRunPrivileged = pdFALSE;
\r
412 uxPriority &= ~portPRIVILEGE_BIT;
\r
413 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
415 /* Calculate the top of stack address. This depends on whether the
\r
416 stack grows from high memory to low (as per the 80x86) or visa versa.
\r
417 portSTACK_GROWTH is used to make the result positive or negative as
\r
418 required by the port. */
\r
419 #if( portSTACK_GROWTH < 0 )
\r
421 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
\r
422 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( unsigned long ) pxTopOfStack ) & ( ( unsigned long ) ~portBYTE_ALIGNMENT_MASK ) );
\r
426 pxTopOfStack = pxNewTCB->pxStack;
\r
428 /* If we want to use stack checking on architectures that use
\r
429 a positive stack growth direction then we also need to store the
\r
430 other extreme of the stack space. */
\r
431 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
\r
435 /* Setup the newly allocated TCB with the initial state of the task. */
\r
436 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
\r
438 /* Initialize the TCB stack to look as if the task was already running,
\r
439 but had been interrupted by the scheduler. The return address is set
\r
440 to the start of the task function. Once the stack has been initialised
\r
441 the top of stack variable is updated. */
\r
442 #if( portUSING_MPU_WRAPPERS == 1 )
\r
444 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
448 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
452 /* We are going to manipulate the task queues to add this task to a
\r
453 ready list, so must make sure no interrupts occur. */
\r
454 portENTER_CRITICAL();
\r
456 uxCurrentNumberOfTasks++;
\r
457 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
459 /* As this is the first task it must also be the current task. */
\r
460 pxCurrentTCB = pxNewTCB;
\r
462 /* This is the first task to be created so do the preliminary
\r
463 initialisation required. We will not recover if this call
\r
464 fails, but we will report the failure. */
\r
465 prvInitialiseTaskLists();
\r
469 /* If the scheduler is not already running, make this task the
\r
470 current task if it is the highest priority task to be created
\r
472 if( xSchedulerRunning == pdFALSE )
\r
474 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
476 pxCurrentTCB = pxNewTCB;
\r
481 /* Remember the top priority to make context switching faster. Use
\r
482 the priority in pxNewTCB as this has been capped to a valid value. */
\r
483 if( pxNewTCB->uxPriority > uxTopUsedPriority )
\r
485 uxTopUsedPriority = pxNewTCB->uxPriority;
\r
488 #if ( configUSE_TRACE_FACILITY == 1 )
\r
490 /* Add a counter into the TCB for tracing only. */
\r
491 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
496 prvAddTaskToReadyQueue( pxNewTCB );
\r
499 traceTASK_CREATE( pxNewTCB );
\r
501 portEXIT_CRITICAL();
\r
505 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
506 traceTASK_CREATE_FAILED( pxNewTCB );
\r
509 if( xReturn == pdPASS )
\r
511 if( ( void * ) pxCreatedTask != NULL )
\r
513 /* Pass the TCB out - in an anonymous way. The calling function/
\r
514 task can use this as a handle to delete the task later if
\r
516 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
\r
519 if( xSchedulerRunning != pdFALSE )
\r
521 /* If the created task is of a higher priority than the current task
\r
522 then it should run now. */
\r
523 if( pxCurrentTCB->uxPriority < uxPriority )
\r
525 portYIELD_WITHIN_API();
\r
532 /*-----------------------------------------------------------*/
\r
534 #if ( INCLUDE_vTaskDelete == 1 )
\r
536 void vTaskDelete( xTaskHandle pxTaskToDelete )
\r
540 portENTER_CRITICAL();
\r
542 /* Ensure a yield is performed if the current task is being
\r
544 if( pxTaskToDelete == pxCurrentTCB )
\r
546 pxTaskToDelete = NULL;
\r
549 /* If null is passed in here then we are deleting ourselves. */
\r
550 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
\r
552 /* Remove task from the ready list and place in the termination list.
\r
553 This will stop the task from be scheduled. The idle task will check
\r
554 the termination list and free up any memory allocated by the
\r
555 scheduler for the TCB and stack. */
\r
556 vListRemove( &( pxTCB->xGenericListItem ) );
\r
558 /* Is the task waiting on an event also? */
\r
559 if( pxTCB->xEventListItem.pvContainer )
\r
561 vListRemove( &( pxTCB->xEventListItem ) );
\r
564 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
566 /* Increment the ucTasksDeleted variable so the idle task knows
\r
567 there is a task that has been deleted and that it should therefore
\r
568 check the xTasksWaitingTermination list. */
\r
571 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
572 can detect that the task lists need re-generating. */
\r
575 traceTASK_DELETE( pxTCB );
\r
577 portEXIT_CRITICAL();
\r
579 /* Force a reschedule if we have just deleted the current task. */
\r
580 if( xSchedulerRunning != pdFALSE )
\r
582 if( ( void * ) pxTaskToDelete == NULL )
\r
584 portYIELD_WITHIN_API();
\r
596 /*-----------------------------------------------------------
\r
597 * TASK CONTROL API documented in task.h
\r
598 *----------------------------------------------------------*/
\r
600 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
602 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
604 portTickType xTimeToWake;
\r
605 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
609 /* Generate the tick time at which the task wants to wake. */
\r
610 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
612 if( xTickCount < *pxPreviousWakeTime )
\r
614 /* The tick count has overflowed since this function was
\r
615 lasted called. In this case the only time we should ever
\r
616 actually delay is if the wake time has also overflowed,
\r
617 and the wake time is greater than the tick time. When this
\r
618 is the case it is as if neither time had overflowed. */
\r
619 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
621 xShouldDelay = pdTRUE;
\r
626 /* The tick time has not overflowed. In this case we will
\r
627 delay if either the wake time has overflowed, and/or the
\r
628 tick time is less than the wake time. */
\r
629 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
631 xShouldDelay = pdTRUE;
\r
635 /* Update the wake time ready for the next call. */
\r
636 *pxPreviousWakeTime = xTimeToWake;
\r
640 traceTASK_DELAY_UNTIL();
\r
642 /* We must remove ourselves from the ready list before adding
\r
643 ourselves to the blocked list as the same list item is used for
\r
645 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
647 /* The list item will be inserted in wake time order. */
\r
648 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
650 if( xTimeToWake < xTickCount )
\r
652 /* Wake time has overflowed. Place this item in the
\r
654 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
658 /* The wake time has not overflowed, so we can use the
\r
659 current block list. */
\r
660 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
664 xAlreadyYielded = xTaskResumeAll();
\r
666 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
667 have put ourselves to sleep. */
\r
668 if( !xAlreadyYielded )
\r
670 portYIELD_WITHIN_API();
\r
675 /*-----------------------------------------------------------*/
\r
677 #if ( INCLUDE_vTaskDelay == 1 )
\r
679 void vTaskDelay( portTickType xTicksToDelay )
\r
681 portTickType xTimeToWake;
\r
682 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
684 /* A delay time of zero just forces a reschedule. */
\r
685 if( xTicksToDelay > ( portTickType ) 0 )
\r
691 /* A task that is removed from the event list while the
\r
692 scheduler is suspended will not get placed in the ready
\r
693 list or removed from the blocked list until the scheduler
\r
696 This task cannot be in an event list as it is the currently
\r
699 /* Calculate the time to wake - this may overflow but this is
\r
701 xTimeToWake = xTickCount + xTicksToDelay;
\r
703 /* We must remove ourselves from the ready list before adding
\r
704 ourselves to the blocked list as the same list item is used for
\r
706 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
708 /* The list item will be inserted in wake time order. */
\r
709 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
711 if( xTimeToWake < xTickCount )
\r
713 /* Wake time has overflowed. Place this item in the
\r
715 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
719 /* The wake time has not overflowed, so we can use the
\r
720 current block list. */
\r
721 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
724 xAlreadyYielded = xTaskResumeAll();
\r
727 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
728 have put ourselves to sleep. */
\r
729 if( !xAlreadyYielded )
\r
731 portYIELD_WITHIN_API();
\r
736 /*-----------------------------------------------------------*/
\r
738 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
740 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
743 unsigned portBASE_TYPE uxReturn;
\r
745 portENTER_CRITICAL();
\r
747 /* If null is passed in here then we are changing the
\r
748 priority of the calling function. */
\r
749 pxTCB = prvGetTCBFromHandle( pxTask );
\r
750 uxReturn = pxTCB->uxPriority;
\r
752 portEXIT_CRITICAL();
\r
758 /*-----------------------------------------------------------*/
\r
760 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
762 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
765 unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
\r
767 /* Ensure the new priority is valid. */
\r
768 if( uxNewPriority >= configMAX_PRIORITIES )
\r
770 uxNewPriority = configMAX_PRIORITIES - 1;
\r
773 portENTER_CRITICAL();
\r
775 if( pxTask == pxCurrentTCB )
\r
780 /* If null is passed in here then we are changing the
\r
781 priority of the calling function. */
\r
782 pxTCB = prvGetTCBFromHandle( pxTask );
\r
784 traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
\r
786 #if ( configUSE_MUTEXES == 1 )
\r
788 uxCurrentPriority = pxTCB->uxBasePriority;
\r
792 uxCurrentPriority = pxTCB->uxPriority;
\r
796 if( uxCurrentPriority != uxNewPriority )
\r
798 /* The priority change may have readied a task of higher
\r
799 priority than the calling task. */
\r
800 if( uxNewPriority > uxCurrentPriority )
\r
802 if( pxTask != NULL )
\r
804 /* The priority of another task is being raised. If we
\r
805 were raising the priority of the currently running task
\r
806 there would be no need to switch as it must have already
\r
807 been the highest priority task. */
\r
808 xYieldRequired = pdTRUE;
\r
811 else if( pxTask == NULL )
\r
813 /* Setting our own priority down means there may now be another
\r
814 task of higher priority that is ready to execute. */
\r
815 xYieldRequired = pdTRUE;
\r
820 #if ( configUSE_MUTEXES == 1 )
\r
822 /* Only change the priority being used if the task is not
\r
823 currently using an inherited priority. */
\r
824 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
826 pxTCB->uxPriority = uxNewPriority;
\r
829 /* The base priority gets set whatever. */
\r
830 pxTCB->uxBasePriority = uxNewPriority;
\r
834 pxTCB->uxPriority = uxNewPriority;
\r
838 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
840 /* If the task is in the blocked or suspended list we need do
\r
841 nothing more than change it's priority variable. However, if
\r
842 the task is in a ready list it needs to be removed and placed
\r
843 in the queue appropriate to its new priority. */
\r
844 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
846 /* The task is currently in its ready list - remove before adding
\r
847 it to it's new ready list. As we are in a critical section we
\r
848 can do this even if the scheduler is suspended. */
\r
849 vListRemove( &( pxTCB->xGenericListItem ) );
\r
850 prvAddTaskToReadyQueue( pxTCB );
\r
853 if( xYieldRequired == pdTRUE )
\r
855 portYIELD_WITHIN_API();
\r
859 portEXIT_CRITICAL();
\r
863 /*-----------------------------------------------------------*/
\r
865 #if ( INCLUDE_vTaskSuspend == 1 )
\r
867 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
871 portENTER_CRITICAL();
\r
873 /* Ensure a yield is performed if the current task is being
\r
875 if( pxTaskToSuspend == pxCurrentTCB )
\r
877 pxTaskToSuspend = NULL;
\r
880 /* If null is passed in here then we are suspending ourselves. */
\r
881 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
883 traceTASK_SUSPEND( pxTCB );
\r
885 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
886 vListRemove( &( pxTCB->xGenericListItem ) );
\r
888 /* Is the task waiting on an event also? */
\r
889 if( pxTCB->xEventListItem.pvContainer )
\r
891 vListRemove( &( pxTCB->xEventListItem ) );
\r
894 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
896 portEXIT_CRITICAL();
\r
898 /* We may have just suspended the current task. */
\r
899 if( ( void * ) pxTaskToSuspend == NULL )
\r
901 portYIELD_WITHIN_API();
\r
906 /*-----------------------------------------------------------*/
\r
908 #if ( INCLUDE_vTaskSuspend == 1 )
\r
910 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
912 portBASE_TYPE xReturn = pdFALSE;
\r
913 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
915 /* Is the task we are attempting to resume actually in the
\r
917 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
919 /* Has the task already been resumed from within an ISR? */
\r
920 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
922 /* Is it in the suspended list because it is in the
\r
923 Suspended state? It is possible to be in the suspended
\r
924 list because it is blocked on a task with no timeout
\r
926 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
937 /*-----------------------------------------------------------*/
\r
939 #if ( INCLUDE_vTaskSuspend == 1 )
\r
941 void vTaskResume( xTaskHandle pxTaskToResume )
\r
945 /* Remove the task from whichever list it is currently in, and place
\r
946 it in the ready list. */
\r
947 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
949 /* The parameter cannot be NULL as it is impossible to resume the
\r
950 currently executing task. */
\r
951 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
953 portENTER_CRITICAL();
\r
955 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
957 traceTASK_RESUME( pxTCB );
\r
959 /* As we are in a critical section we can access the ready
\r
960 lists even if the scheduler is suspended. */
\r
961 vListRemove( &( pxTCB->xGenericListItem ) );
\r
962 prvAddTaskToReadyQueue( pxTCB );
\r
964 /* We may have just resumed a higher priority task. */
\r
965 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
967 /* This yield may not cause the task just resumed to run, but
\r
968 will leave the lists in the correct state for the next yield. */
\r
969 portYIELD_WITHIN_API();
\r
973 portEXIT_CRITICAL();
\r
979 /*-----------------------------------------------------------*/
\r
981 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
983 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
985 portBASE_TYPE xYieldRequired = pdFALSE;
\r
988 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
990 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
992 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
994 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
996 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
997 vListRemove( &( pxTCB->xGenericListItem ) );
\r
998 prvAddTaskToReadyQueue( pxTCB );
\r
1002 /* We cannot access the delayed or ready lists, so will hold this
\r
1003 task pending until the scheduler is resumed, at which point a
\r
1004 yield will be performed if necessary. */
\r
1005 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1009 return xYieldRequired;
\r
1017 /*-----------------------------------------------------------
\r
1018 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1019 *----------------------------------------------------------*/
\r
1022 void vTaskStartScheduler( void )
\r
1024 portBASE_TYPE xReturn;
\r
1026 /* Add the idle task at the lowest priority. */
\r
1027 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), ( xTaskHandle * ) NULL );
\r
1029 if( xReturn == pdPASS )
\r
1031 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1032 before or during the call to xPortStartScheduler(). The stacks of
\r
1033 the created tasks contain a status word with interrupts switched on
\r
1034 so interrupts will automatically get re-enabled when the first task
\r
1037 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1038 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1039 portDISABLE_INTERRUPTS();
\r
1041 xSchedulerRunning = pdTRUE;
\r
1042 xTickCount = ( portTickType ) 0;
\r
1044 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1045 macro must be defined to configure the timer/counter used to generate
\r
1046 the run time counter time base. */
\r
1047 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1049 /* Setting up the timer tick is hardware specific and thus in the
\r
1050 portable interface. */
\r
1051 if( xPortStartScheduler() )
\r
1053 /* Should not reach here as if the scheduler is running the
\r
1054 function will not return. */
\r
1058 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1062 /*-----------------------------------------------------------*/
\r
1064 void vTaskEndScheduler( void )
\r
1066 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1067 routine so the original ISRs can be restored if necessary. The port
\r
1068 layer must ensure interrupts enable bit is left in the correct state. */
\r
1069 portDISABLE_INTERRUPTS();
\r
1070 xSchedulerRunning = pdFALSE;
\r
1071 vPortEndScheduler();
\r
1073 /*----------------------------------------------------------*/
\r
1075 void vTaskSuspendAll( void )
\r
1077 /* A critical section is not required as the variable is of type
\r
1079 ++uxSchedulerSuspended;
\r
1081 /*----------------------------------------------------------*/
\r
1083 signed portBASE_TYPE xTaskResumeAll( void )
\r
1085 register tskTCB *pxTCB;
\r
1086 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1088 /* It is possible that an ISR caused a task to be removed from an event
\r
1089 list while the scheduler was suspended. If this was the case then the
\r
1090 removed task will have been added to the xPendingReadyList. Once the
\r
1091 scheduler has been resumed it is safe to move all the pending ready
\r
1092 tasks from this list into their appropriate ready list. */
\r
1093 portENTER_CRITICAL();
\r
1095 --uxSchedulerSuspended;
\r
1097 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1099 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
\r
1101 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1103 /* Move any readied tasks from the pending list into the
\r
1104 appropriate ready list. */
\r
1105 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL )
\r
1107 vListRemove( &( pxTCB->xEventListItem ) );
\r
1108 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1109 prvAddTaskToReadyQueue( pxTCB );
\r
1111 /* If we have moved a task that has a priority higher than
\r
1112 the current task then we should yield. */
\r
1113 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1115 xYieldRequired = pdTRUE;
\r
1119 /* If any ticks occurred while the scheduler was suspended then
\r
1120 they should be processed now. This ensures the tick count does not
\r
1121 slip, and that any delayed tasks are resumed at the correct time. */
\r
1122 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1124 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1126 vTaskIncrementTick();
\r
1130 /* As we have processed some ticks it is appropriate to yield
\r
1131 to ensure the highest priority task that is ready to run is
\r
1132 the task actually running. */
\r
1133 #if configUSE_PREEMPTION == 1
\r
1135 xYieldRequired = pdTRUE;
\r
1140 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1142 xAlreadyYielded = pdTRUE;
\r
1143 xMissedYield = pdFALSE;
\r
1144 portYIELD_WITHIN_API();
\r
1149 portEXIT_CRITICAL();
\r
1151 return xAlreadyYielded;
\r
1159 /*-----------------------------------------------------------
\r
1160 * PUBLIC TASK UTILITIES documented in task.h
\r
1161 *----------------------------------------------------------*/
\r
1165 portTickType xTaskGetTickCount( void )
\r
1167 portTickType xTicks;
\r
1169 /* Critical section required if running on a 16 bit processor. */
\r
1170 portENTER_CRITICAL();
\r
1172 xTicks = xTickCount;
\r
1174 portEXIT_CRITICAL();
\r
1178 /*-----------------------------------------------------------*/
\r
1180 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1182 /* A critical section is not required because the variables are of type
\r
1184 return uxCurrentNumberOfTasks;
\r
1186 /*-----------------------------------------------------------*/
\r
1188 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1190 void vTaskList( signed char *pcWriteBuffer )
\r
1192 unsigned portBASE_TYPE uxQueue;
\r
1194 /* This is a VERY costly function that should be used for debug only.
\r
1195 It leaves interrupts disabled for a LONG time. */
\r
1197 vTaskSuspendAll();
\r
1199 /* Run through all the lists that could potentially contain a TCB and
\r
1200 report the task name, state and stack high water mark. */
\r
1202 pcWriteBuffer[ 0 ] = ( signed char ) 0x00;
\r
1203 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1205 uxQueue = uxTopUsedPriority + 1;
\r
1211 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1213 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1215 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1217 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1219 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1222 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1224 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1227 #if( INCLUDE_vTaskDelete == 1 )
\r
1229 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1231 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1236 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1238 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1240 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1249 /*----------------------------------------------------------*/
\r
1251 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1253 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1255 unsigned portBASE_TYPE uxQueue;
\r
1256 unsigned long ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1258 /* This is a VERY costly function that should be used for debug only.
\r
1259 It leaves interrupts disabled for a LONG time. */
\r
1261 vTaskSuspendAll();
\r
1263 /* Run through all the lists that could potentially contain a TCB,
\r
1264 generating a table of run timer percentages in the provided
\r
1267 pcWriteBuffer[ 0 ] = ( signed char ) 0x00;
\r
1268 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1270 uxQueue = uxTopUsedPriority + 1;
\r
1276 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1278 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
\r
1280 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1282 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1284 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
\r
1287 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1289 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
\r
1292 #if ( INCLUDE_vTaskDelete == 1 )
\r
1294 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1296 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, ulTotalRunTime );
\r
1301 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1303 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1305 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, ulTotalRunTime );
\r
1314 /*----------------------------------------------------------*/
\r
1316 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1318 void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize )
\r
1320 portENTER_CRITICAL();
\r
1322 pcTraceBuffer = ( signed char * )pcBuffer;
\r
1323 pcTraceBufferStart = pcBuffer;
\r
1324 pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
\r
1325 xTracing = pdTRUE;
\r
1327 portEXIT_CRITICAL();
\r
1331 /*----------------------------------------------------------*/
\r
1333 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1335 unsigned long ulTaskEndTrace( void )
\r
1337 unsigned long ulBufferLength;
\r
1339 portENTER_CRITICAL();
\r
1340 xTracing = pdFALSE;
\r
1341 portEXIT_CRITICAL();
\r
1343 ulBufferLength = ( unsigned long ) ( pcTraceBuffer - pcTraceBufferStart );
\r
1345 return ulBufferLength;
\r
1352 /*-----------------------------------------------------------
\r
1353 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1354 * documented in task.h
\r
1355 *----------------------------------------------------------*/
\r
1358 void vTaskIncrementTick( void )
\r
1360 /* Called by the portable layer each time a tick interrupt occurs.
\r
1361 Increments the tick then checks to see if the new tick value will cause any
\r
1362 tasks to be unblocked. */
\r
1363 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1366 if( xTickCount == ( portTickType ) 0 )
\r
1370 /* Tick count has overflowed so we need to swap the delay lists.
\r
1371 If there are any items in pxDelayedTaskList here then there is
\r
1373 pxTemp = pxDelayedTaskList;
\r
1374 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1375 pxOverflowDelayedTaskList = pxTemp;
\r
1376 xNumOfOverflows++;
\r
1379 /* See if this tick has made a timeout expire. */
\r
1380 prvCheckDelayedTasks();
\r
1386 /* The tick hook gets called at regular intervals, even if the
\r
1387 scheduler is locked. */
\r
1388 #if ( configUSE_TICK_HOOK == 1 )
\r
1390 extern void vApplicationTickHook( void );
\r
1392 vApplicationTickHook();
\r
1397 #if ( configUSE_TICK_HOOK == 1 )
\r
1399 extern void vApplicationTickHook( void );
\r
1401 /* Guard against the tick hook being called when the missed tick
\r
1402 count is being unwound (when the scheduler is being unlocked. */
\r
1403 if( uxMissedTicks == 0 )
\r
1405 vApplicationTickHook();
\r
1410 traceTASK_INCREMENT_TICK( xTickCount );
\r
1412 /*-----------------------------------------------------------*/
\r
1414 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1416 void vTaskCleanUpResources( void )
\r
1418 unsigned short usQueue;
\r
1419 volatile tskTCB *pxTCB;
\r
1421 usQueue = ( unsigned short ) uxTopUsedPriority + ( unsigned short ) 1;
\r
1423 /* Remove any TCB's from the ready queues. */
\r
1428 while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
\r
1430 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
\r
1431 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1433 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1435 }while( usQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1437 /* Remove any TCB's from the delayed queue. */
\r
1438 while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
\r
1440 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
\r
1441 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1443 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1446 /* Remove any TCB's from the overflow delayed queue. */
\r
1447 while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
\r
1449 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
\r
1450 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1452 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1455 while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1457 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
\r
1458 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1460 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1465 /*-----------------------------------------------------------*/
\r
1467 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1469 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue )
\r
1473 /* If xTask is NULL then we are setting our own task hook. */
\r
1474 if( xTask == NULL )
\r
1476 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1480 xTCB = ( tskTCB * ) xTask;
\r
1483 /* Save the hook function in the TCB. A critical section is required as
\r
1484 the value can be accessed from an interrupt. */
\r
1485 portENTER_CRITICAL();
\r
1486 xTCB->pxTaskTag = pxTagValue;
\r
1487 portEXIT_CRITICAL();
\r
1491 /*-----------------------------------------------------------*/
\r
1493 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1495 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1498 pdTASK_HOOK_CODE xReturn;
\r
1500 /* If xTask is NULL then we are setting our own task hook. */
\r
1501 if( xTask == NULL )
\r
1503 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1507 xTCB = ( tskTCB * ) xTask;
\r
1510 /* Save the hook function in the TCB. A critical section is required as
\r
1511 the value can be accessed from an interrupt. */
\r
1512 portENTER_CRITICAL();
\r
1513 xReturn = xTCB->pxTaskTag;
\r
1514 portEXIT_CRITICAL();
\r
1520 /*-----------------------------------------------------------*/
\r
1522 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1524 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1527 portBASE_TYPE xReturn;
\r
1529 /* If xTask is NULL then we are calling our own task hook. */
\r
1530 if( xTask == NULL )
\r
1532 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1536 xTCB = ( tskTCB * ) xTask;
\r
1539 if( xTCB->pxTaskTag != NULL )
\r
1541 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1552 /*-----------------------------------------------------------*/
\r
1554 void vTaskSwitchContext( void )
\r
1556 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1558 /* The scheduler is currently suspended - do not allow a context
\r
1560 xMissedYield = pdTRUE;
\r
1564 traceTASK_SWITCHED_OUT();
\r
1566 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1568 unsigned long ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
\r
1570 /* Add the amount of time the task has been running to the accumulated
\r
1571 time so far. The time the task started running was stored in
\r
1572 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1573 so count values are only valid until the timer overflows. Generally
\r
1574 this will be about 1 hour assuming a 1uS timer increment. */
\r
1575 pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
\r
1576 ulTaskSwitchedInTime = ulTempCounter;
\r
1580 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1581 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1583 /* Find the highest priority queue that contains ready tasks. */
\r
1584 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1586 --uxTopReadyPriority;
\r
1589 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1590 same priority get an equal share of the processor time. */
\r
1591 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1593 traceTASK_SWITCHED_IN();
\r
1594 vWriteTraceToBuffer();
\r
1596 /*-----------------------------------------------------------*/
\r
1598 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1600 portTickType xTimeToWake;
\r
1602 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1603 SCHEDULER SUSPENDED. */
\r
1605 /* Place the event list item of the TCB in the appropriate event list.
\r
1606 This is placed in the list in priority order so the highest priority task
\r
1607 is the first to be woken by the event. */
\r
1608 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1610 /* We must remove ourselves from the ready list before adding ourselves
\r
1611 to the blocked list as the same list item is used for both lists. We have
\r
1612 exclusive access to the ready lists as the scheduler is locked. */
\r
1613 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1616 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1618 if( xTicksToWait == portMAX_DELAY )
\r
1620 /* Add ourselves to the suspended task list instead of a delayed task
\r
1621 list to ensure we are not woken by a timing event. We will block
\r
1623 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1627 /* Calculate the time at which the task should be woken if the event does
\r
1628 not occur. This may overflow but this doesn't matter. */
\r
1629 xTimeToWake = xTickCount + xTicksToWait;
\r
1631 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1633 if( xTimeToWake < xTickCount )
\r
1635 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1636 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1640 /* The wake time has not overflowed, so we can use the current block list. */
\r
1641 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1647 /* Calculate the time at which the task should be woken if the event does
\r
1648 not occur. This may overflow but this doesn't matter. */
\r
1649 xTimeToWake = xTickCount + xTicksToWait;
\r
1651 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1653 if( xTimeToWake < xTickCount )
\r
1655 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1656 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1660 /* The wake time has not overflowed, so we can use the current block list. */
\r
1661 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1666 /*-----------------------------------------------------------*/
\r
1668 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1670 tskTCB *pxUnblockedTCB;
\r
1671 portBASE_TYPE xReturn;
\r
1673 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1674 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1676 /* The event list is sorted in priority order, so we can remove the
\r
1677 first in the list, remove the TCB from the delayed list, and add
\r
1678 it to the ready list.
\r
1680 If an event is for a queue that is locked then this function will never
\r
1681 get called - the lock count on the queue will get modified instead. This
\r
1682 means we can always expect exclusive access to the event list here. */
\r
1683 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1684 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1686 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1688 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1689 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1693 /* We cannot access the delayed or ready lists, so will hold this
\r
1694 task pending until the scheduler is resumed. */
\r
1695 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1698 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1700 /* Return true if the task removed from the event list has
\r
1701 a higher priority than the calling task. This allows
\r
1702 the calling task to know if it should force a context
\r
1708 xReturn = pdFALSE;
\r
1713 /*-----------------------------------------------------------*/
\r
1715 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1717 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1718 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1720 /*-----------------------------------------------------------*/
\r
1722 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1724 portBASE_TYPE xReturn;
\r
1726 portENTER_CRITICAL();
\r
1728 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1729 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1730 the maximum block time then the task should block indefinitely, and
\r
1731 therefore never time out. */
\r
1732 if( *pxTicksToWait == portMAX_DELAY )
\r
1734 xReturn = pdFALSE;
\r
1736 else /* We are not blocking indefinitely, perform the checks below. */
\r
1739 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
1741 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1742 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1743 It must have wrapped all the way around and gone past us again. This
\r
1744 passed since vTaskSetTimeout() was called. */
\r
1747 else if( ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) < ( portTickType ) *pxTicksToWait )
\r
1749 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1750 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
1751 vTaskSetTimeOutState( pxTimeOut );
\r
1752 xReturn = pdFALSE;
\r
1759 portEXIT_CRITICAL();
\r
1763 /*-----------------------------------------------------------*/
\r
1765 void vTaskMissedYield( void )
\r
1767 xMissedYield = pdTRUE;
\r
1771 * -----------------------------------------------------------
\r
1773 * ----------------------------------------------------------
\r
1775 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1776 * language extensions. The equivalent prototype for this function is:
\r
1778 * void prvIdleTask( void *pvParameters );
\r
1781 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1783 /* Stop warnings. */
\r
1784 ( void ) pvParameters;
\r
1788 /* See if any tasks have been deleted. */
\r
1789 prvCheckTasksWaitingTermination();
\r
1791 #if ( configUSE_PREEMPTION == 0 )
\r
1793 /* If we are not using preemption we keep forcing a task switch to
\r
1794 see if any other task has become available. If we are using
\r
1795 preemption we don't need to do this as any task becoming available
\r
1796 will automatically get the processor anyway. */
\r
1801 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1803 /* When using preemption tasks of equal priority will be
\r
1804 timesliced. If a task that is sharing the idle priority is ready
\r
1805 to run then the idle task should yield before the end of the
\r
1808 A critical region is not required here as we are just reading from
\r
1809 the list, and an occasional incorrect value will not matter. If
\r
1810 the ready list at the idle priority contains more than one task
\r
1811 then a task other than the idle task is ready to execute. */
\r
1812 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1819 #if ( configUSE_IDLE_HOOK == 1 )
\r
1821 extern void vApplicationIdleHook( void );
\r
1823 /* Call the user defined function from within the idle task. This
\r
1824 allows the application designer to add background functionality
\r
1825 without the overhead of a separate task.
\r
1826 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1827 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1828 vApplicationIdleHook();
\r
1832 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1840 /*-----------------------------------------------------------
\r
1841 * File private functions documented at the top of the file.
\r
1842 *----------------------------------------------------------*/
\r
1846 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
1848 /* Store the function name in the TCB. */
\r
1849 #if configMAX_TASK_NAME_LEN > 1
\r
1851 /* Don't bring strncpy into the build unnecessarily. */
\r
1852 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
1855 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = '\0';
\r
1857 /* This is used as an array index so must ensure it's not too large. First
\r
1858 remove the privilege bit if one is present. */
\r
1859 if( uxPriority >= configMAX_PRIORITIES )
\r
1861 uxPriority = configMAX_PRIORITIES - 1;
\r
1864 pxTCB->uxPriority = uxPriority;
\r
1865 #if ( configUSE_MUTEXES == 1 )
\r
1867 pxTCB->uxBasePriority = uxPriority;
\r
1871 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
1872 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
1874 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
1875 back to the containing TCB from a generic item in a list. */
\r
1876 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
1878 /* Event lists are always in priority order. */
\r
1879 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
1880 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
1882 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
1884 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
\r
1888 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1890 pxTCB->pxTaskTag = NULL;
\r
1894 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1896 pxTCB->ulRunTimeCounter = 0UL;
\r
1900 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
1902 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
1906 ( void ) xRegions;
\r
1907 ( void ) usStackDepth;
\r
1911 /*-----------------------------------------------------------*/
\r
1913 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
1915 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
1919 if( xTaskToModify == pxCurrentTCB )
\r
1921 xTaskToModify = NULL;
\r
1924 /* If null is passed in here then we are deleting ourselves. */
\r
1925 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
1927 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
1929 /*-----------------------------------------------------------*/
\r
1932 static void prvInitialiseTaskLists( void )
\r
1934 unsigned portBASE_TYPE uxPriority;
\r
1936 for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
1938 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
1941 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
1942 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
1943 vListInitialise( ( xList * ) &xPendingReadyList );
\r
1945 #if ( INCLUDE_vTaskDelete == 1 )
\r
1947 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
1951 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1953 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
1957 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
1959 pxDelayedTaskList = &xDelayedTaskList1;
\r
1960 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
1962 /*-----------------------------------------------------------*/
\r
1964 static void prvCheckTasksWaitingTermination( void )
\r
1966 #if ( INCLUDE_vTaskDelete == 1 )
\r
1968 portBASE_TYPE xListIsEmpty;
\r
1970 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
1971 too often in the idle task. */
\r
1972 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
\r
1974 vTaskSuspendAll();
\r
1975 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
1978 if( !xListIsEmpty )
\r
1982 portENTER_CRITICAL();
\r
1984 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
1985 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1986 --uxCurrentNumberOfTasks;
\r
1989 portEXIT_CRITICAL();
\r
1991 prvDeleteTCB( pxTCB );
\r
1997 /*-----------------------------------------------------------*/
\r
1999 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2003 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2004 the implementation of the port malloc function. */
\r
2005 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2007 if( pxNewTCB != NULL )
\r
2009 /* Allocate space for the stack used by the task being created.
\r
2010 The base of the stack memory stored in the TCB so the task can
\r
2011 be deleted later if required. */
\r
2012 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2014 if( pxNewTCB->pxStack == NULL )
\r
2016 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2017 vPortFree( pxNewTCB );
\r
2022 /* Just to help debugging. */
\r
2023 memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2029 /*-----------------------------------------------------------*/
\r
2031 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2033 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2035 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2036 unsigned short usStackRemaining;
\r
2038 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2039 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2042 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2043 #if ( portSTACK_GROWTH > 0 )
\r
2045 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2049 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2053 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
2054 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2056 } while( pxNextTCB != pxFirstTCB );
\r
2060 /*-----------------------------------------------------------*/
\r
2062 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2064 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
\r
2066 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2067 unsigned long ulStatsAsPercentage;
\r
2069 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2070 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2073 /* Get next TCB in from the list. */
\r
2074 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2076 /* Divide by zero check. */
\r
2077 if( ulTotalRunTime > 0UL )
\r
2079 /* Has the task run at all? */
\r
2080 if( pxNextTCB->ulRunTimeCounter == 0 )
\r
2082 /* The task has used no CPU time at all. */
\r
2083 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2087 /* What percentage of the total run time as the task used?
\r
2088 This will always be rounded down to the nearest integer. */
\r
2089 ulStatsAsPercentage = ( 100UL * pxNextTCB->ulRunTimeCounter ) / ulTotalRunTime;
\r
2091 if( ulStatsAsPercentage > 0UL )
\r
2093 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2097 /* If the percentage is zero here then the task has
\r
2098 consumed less than 1% of the total run time. */
\r
2099 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2103 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2106 } while( pxNextTCB != pxFirstTCB );
\r
2110 /*-----------------------------------------------------------*/
\r
2112 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2114 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2116 register unsigned short usCount = 0;
\r
2118 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2120 pucStackByte -= portSTACK_GROWTH;
\r
2124 usCount /= sizeof( portSTACK_TYPE );
\r
2130 /*-----------------------------------------------------------*/
\r
2132 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2134 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2137 unsigned char *pcEndOfStack;
\r
2138 unsigned portBASE_TYPE uxReturn;
\r
2140 pxTCB = prvGetTCBFromHandle( xTask );
\r
2142 #if portSTACK_GROWTH < 0
\r
2144 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2148 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2152 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2158 /*-----------------------------------------------------------*/
\r
2160 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
\r
2162 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2164 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2165 the task to free any memory allocated at the application level. */
\r
2166 vPortFreeAligned( pxTCB->pxStack );
\r
2167 vPortFree( pxTCB );
\r
2173 /*-----------------------------------------------------------*/
\r
2175 #if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
\r
2177 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2179 xTaskHandle xReturn;
\r
2181 /* A critical section is not required as this is not called from
\r
2182 an interrupt and the current TCB will always be the same for any
\r
2183 individual execution thread. */
\r
2184 xReturn = pxCurrentTCB;
\r
2191 /*-----------------------------------------------------------*/
\r
2193 #if ( INCLUDE_xTaskGetSchedulerState == 1 )
\r
2195 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2197 portBASE_TYPE xReturn;
\r
2199 if( xSchedulerRunning == pdFALSE )
\r
2201 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2205 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2207 xReturn = taskSCHEDULER_RUNNING;
\r
2211 xReturn = taskSCHEDULER_SUSPENDED;
\r
2219 /*-----------------------------------------------------------*/
\r
2221 #if ( configUSE_MUTEXES == 1 )
\r
2223 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2225 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2227 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2229 /* Adjust the mutex holder state to account for its new priority. */
\r
2230 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2232 /* If the task being modified is in the ready state it will need to
\r
2233 be moved in to a new list. */
\r
2234 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
2236 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2238 /* Inherit the priority before being moved into the new list. */
\r
2239 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2240 prvAddTaskToReadyQueue( pxTCB );
\r
2244 /* Just inherit the priority. */
\r
2245 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2251 /*-----------------------------------------------------------*/
\r
2253 #if ( configUSE_MUTEXES == 1 )
\r
2255 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2257 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2259 if( pxMutexHolder != NULL )
\r
2261 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2263 /* We must be the running task to be able to give the mutex back.
\r
2264 Remove ourselves from the ready list we currently appear in. */
\r
2265 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2267 /* Disinherit the priority before adding ourselves into the new
\r
2269 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2270 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2271 prvAddTaskToReadyQueue( pxTCB );
\r
2277 /*-----------------------------------------------------------*/
\r
2279 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2281 void vTaskEnterCritical( void )
\r
2283 portDISABLE_INTERRUPTS();
\r
2285 if( xSchedulerRunning != pdFALSE )
\r
2287 pxCurrentTCB->uxCriticalNesting++;
\r
2292 /*-----------------------------------------------------------*/
\r
2294 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2296 void vTaskExitCritical( void )
\r
2298 if( xSchedulerRunning != pdFALSE )
\r
2300 if( pxCurrentTCB->uxCriticalNesting > 0 )
\r
2302 pxCurrentTCB->uxCriticalNesting--;
\r
2304 if( pxCurrentTCB->uxCriticalNesting == 0 )
\r
2306 portENABLE_INTERRUPTS();
\r
2313 /*-----------------------------------------------------------*/
\r
projects / freertos / blob