2 FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
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4 This file is part of the FreeRTOS distribution.
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6 FreeRTOS is free software; you can redistribute it and/or modify it under
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7 the terms of the GNU General Public License (version 2) as published by the
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8 Free Software Foundation and modified by the FreeRTOS exception.
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9 **NOTE** The exception to the GPL is included to allow you to distribute a
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10 combined work that includes FreeRTOS without being obliged to provide the
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11 source code for proprietary components outside of the FreeRTOS kernel.
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12 Alternative commercial license and support terms are also available upon
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13 request. See the licensing section of http://www.FreeRTOS.org for full
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16 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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17 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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18 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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21 You should have received a copy of the GNU General Public License along
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22 with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
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23 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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26 ***************************************************************************
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28 * The FreeRTOS eBook and reference manual are available to purchase for a *
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29 * small fee. Help yourself get started quickly while also helping the *
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30 * FreeRTOS project! See http://www.FreeRTOS.org/Documentation for details *
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32 ***************************************************************************
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36 Please ensure to read the configuration and relevant port sections of the
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37 online documentation.
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39 http://www.FreeRTOS.org - Documentation, latest information, license and
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42 http://www.SafeRTOS.com - A version that is certified for use in safety
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45 http://www.OpenRTOS.com - Commercial support, development, porting,
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46 licensing and training services.
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54 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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55 all the API functions to use the MPU wrappers. That should only be done when
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56 task.h is included from an application file. */
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57 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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59 #include "FreeRTOS.h"
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61 #include "StackMacros.h"
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63 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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66 * Macro to define the amount of stack available to the idle task.
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68 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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70 #define tskIDLE_PRIORITY ( ( unsigned portBASE_TYPE ) 0 )
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73 * Task control block. A task control block (TCB) is allocated to each task,
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74 * and stores the context of the task.
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76 typedef struct tskTaskControlBlock
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78 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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80 #if ( portUSING_MPU_WRAPPERS == 1 )
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81 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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84 xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
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85 xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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86 unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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87 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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88 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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90 #if ( portSTACK_GROWTH > 0 )
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91 portSTACK_TYPE *pxEndOfStack; /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
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94 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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95 unsigned portBASE_TYPE uxCriticalNesting;
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98 #if ( configUSE_TRACE_FACILITY == 1 )
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99 unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
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102 #if ( configUSE_MUTEXES == 1 )
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103 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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106 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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107 pdTASK_HOOK_CODE pxTaskTag;
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110 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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111 unsigned long ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
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118 * Some kernel aware debuggers require data to be viewed to be global, rather
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121 #ifdef portREMOVE_STATIC_QUALIFIER
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126 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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128 /* Lists for ready and blocked tasks. --------------------*/
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130 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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131 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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132 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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133 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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134 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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135 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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137 #if ( INCLUDE_vTaskDelete == 1 )
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139 PRIVILEGED_DATA static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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140 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
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144 #if ( INCLUDE_vTaskSuspend == 1 )
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146 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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150 /* File private variables. --------------------------------*/
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151 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
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152 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0;
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153 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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154 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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155 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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156 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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157 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
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158 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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159 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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160 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0;
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162 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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164 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
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165 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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166 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
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170 /* Debugging and trace facilities private variables and macros. ------------*/
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173 * The value used to fill the stack of a task when the task is created. This
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174 * is used purely for checking the high water mark for tasks.
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176 #define tskSTACK_FILL_BYTE ( 0xa5 )
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179 * Macros used by vListTask to indicate which state a task is in.
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181 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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182 #define tskREADY_CHAR ( ( signed char ) 'R' )
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183 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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184 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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187 * Macros and private variables used by the trace facility.
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189 #if ( configUSE_TRACE_FACILITY == 1 )
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191 #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned long ) ( sizeof( unsigned long ) + sizeof( unsigned long ) ) )
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192 PRIVILEGED_DATA static volatile signed char * volatile pcTraceBuffer;
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193 PRIVILEGED_DATA static signed char *pcTraceBufferStart;
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194 PRIVILEGED_DATA static signed char *pcTraceBufferEnd;
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195 PRIVILEGED_DATA static signed portBASE_TYPE xTracing = pdFALSE;
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196 static unsigned portBASE_TYPE uxPreviousTask = 255;
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197 PRIVILEGED_DATA static char pcStatusString[ 50 ];
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201 /*-----------------------------------------------------------*/
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204 * Macro that writes a trace of scheduler activity to a buffer. This trace
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205 * shows which task is running when and is very useful as a debugging tool.
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206 * As this macro is called each context switch it is a good idea to undefine
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207 * it if not using the facility.
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209 #if ( configUSE_TRACE_FACILITY == 1 )
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211 #define vWriteTraceToBuffer() \
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215 if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
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217 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
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219 uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
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220 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) xTickCount; \
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221 pcTraceBuffer += sizeof( unsigned long ); \
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222 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) uxPreviousTask; \
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223 pcTraceBuffer += sizeof( unsigned long ); \
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227 xTracing = pdFALSE; \
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235 #define vWriteTraceToBuffer()
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238 /*-----------------------------------------------------------*/
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241 * Place the task represented by pxTCB into the appropriate ready queue for
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242 * the task. It is inserted at the end of the list. One quirk of this is
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243 * that if the task being inserted is at the same priority as the currently
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244 * executing task, then it will only be rescheduled after the currently
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245 * executing task has been rescheduled.
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247 #define prvAddTaskToReadyQueue( pxTCB ) \
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249 if( pxTCB->uxPriority > uxTopReadyPriority ) \
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251 uxTopReadyPriority = pxTCB->uxPriority; \
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253 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \
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255 /*-----------------------------------------------------------*/
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258 * Macro that looks at the list of tasks that are currently delayed to see if
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259 * any require waking.
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261 * Tasks are stored in the queue in the order of their wake time - meaning
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262 * once one tasks has been found whose timer has not expired we need not look
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263 * any further down the list.
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265 #define prvCheckDelayedTasks() \
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267 register tskTCB *pxTCB; \
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269 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \
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271 if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \
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275 vListRemove( &( pxTCB->xGenericListItem ) ); \
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276 /* Is the task waiting on an event also? */ \
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277 if( pxTCB->xEventListItem.pvContainer ) \
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279 vListRemove( &( pxTCB->xEventListItem ) ); \
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281 prvAddTaskToReadyQueue( pxTCB ); \
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284 /*-----------------------------------------------------------*/
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287 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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288 * where NULL is used to indicate that the handle of the currently executing
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289 * task should be used in place of the parameter. This macro simply checks to
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290 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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292 #define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )
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295 /* File private functions. --------------------------------*/
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298 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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299 * into the TCB structure.
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301 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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304 * Utility to ready all the lists used by the scheduler. This is called
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305 * automatically upon the creation of the first task.
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307 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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310 * The idle task, which as all tasks is implemented as a never ending loop.
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311 * The idle task is automatically created and added to the ready lists upon
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312 * creation of the first user task.
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314 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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315 * language extensions. The equivalent prototype for this function is:
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317 * void prvIdleTask( void *pvParameters );
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320 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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323 * Utility to free all memory allocated by the scheduler to hold a TCB,
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324 * including the stack pointed to by the TCB.
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326 * This does not free memory allocated by the task itself (i.e. memory
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327 * allocated by calls to pvPortMalloc from within the tasks application code).
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329 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
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331 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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336 * Used only by the idle task. This checks to see if anything has been placed
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337 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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338 * and its TCB deleted.
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340 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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343 * Allocates memory from the heap for a TCB and associated stack. Checks the
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344 * allocation was successful.
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346 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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349 * Called from vTaskList. vListTasks details all the tasks currently under
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350 * control of the scheduler. The tasks may be in one of a number of lists.
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351 * prvListTaskWithinSingleList accepts a list and details the tasks from
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352 * within just that list.
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354 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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355 * NORMAL APPLICATION CODE.
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357 #if ( configUSE_TRACE_FACILITY == 1 )
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359 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
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364 * When a task is created, the stack of the task is filled with a known value.
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365 * This function determines the 'high water mark' of the task stack by
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366 * determining how much of the stack remains at the original preset value.
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368 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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370 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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379 /*-----------------------------------------------------------
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380 * TASK CREATION API documented in task.h
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381 *----------------------------------------------------------*/
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383 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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385 signed portBASE_TYPE xReturn;
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387 portBASE_TYPE xRunPrivileged;
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389 /* Allocate the memory required by the TCB and stack for the new task,
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390 checking that the allocation was successful. */
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391 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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393 if( pxNewTCB != NULL )
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395 portSTACK_TYPE *pxTopOfStack;
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397 /* Should the task be created in privileged mode? */
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398 if( ( uxPriority & portPRIVILEGE_BIT ) != 0x00 )
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400 xRunPrivileged = pdTRUE;
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404 xRunPrivileged = pdFALSE;
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406 uxPriority &= ~portPRIVILEGE_BIT;
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408 /* Calculate the top of stack address. This depends on whether the
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409 stack grows from high memory to low (as per the 80x86) or visa versa.
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410 portSTACK_GROWTH is used to make the result positive or negative as
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411 required by the port. */
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412 #if( portSTACK_GROWTH < 0 )
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414 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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415 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( unsigned long ) pxTopOfStack ) & ( ( unsigned long ) ~portBYTE_ALIGNMENT_MASK ) );
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419 pxTopOfStack = pxNewTCB->pxStack;
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421 /* If we want to use stack checking on architectures that use
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422 a positive stack growth direction then we also need to store the
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423 other extreme of the stack space. */
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424 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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428 /* Setup the newly allocated TCB with the initial state of the task. */
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429 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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431 /* Initialize the TCB stack to look as if the task was already running,
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432 but had been interrupted by the scheduler. The return address is set
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433 to the start of the task function. Once the stack has been initialised
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434 the top of stack variable is updated. */
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435 #if( portUSING_MPU_WRAPPERS == 1 )
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437 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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441 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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442 ( void ) xRunPrivileged;
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446 /* We are going to manipulate the task queues to add this task to a
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447 ready list, so must make sure no interrupts occur. */
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448 portENTER_CRITICAL();
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450 uxCurrentNumberOfTasks++;
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451 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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453 /* As this is the first task it must also be the current task. */
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454 pxCurrentTCB = pxNewTCB;
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456 /* This is the first task to be created so do the preliminary
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457 initialisation required. We will not recover if this call
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458 fails, but we will report the failure. */
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459 prvInitialiseTaskLists();
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463 /* If the scheduler is not already running, make this task the
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464 current task if it is the highest priority task to be created
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466 if( xSchedulerRunning == pdFALSE )
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468 if( pxCurrentTCB->uxPriority <= uxPriority )
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470 pxCurrentTCB = pxNewTCB;
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475 /* Remember the top priority to make context switching faster. Use
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476 the priority in pxNewTCB as this has been capped to a valid value. */
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477 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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479 uxTopUsedPriority = pxNewTCB->uxPriority;
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482 #if ( configUSE_TRACE_FACILITY == 1 )
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484 /* Add a counter into the TCB for tracing only. */
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485 pxNewTCB->uxTCBNumber = uxTaskNumber;
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490 prvAddTaskToReadyQueue( pxNewTCB );
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493 traceTASK_CREATE( pxNewTCB );
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495 portEXIT_CRITICAL();
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499 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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500 traceTASK_CREATE_FAILED( pxNewTCB );
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503 if( xReturn == pdPASS )
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505 if( ( void * ) pxCreatedTask != NULL )
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507 /* Pass the TCB out - in an anonymous way. The calling function/
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508 task can use this as a handle to delete the task later if
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510 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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513 if( xSchedulerRunning != pdFALSE )
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515 /* If the created task is of a higher priority than the current task
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516 then it should run now. */
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517 if( pxCurrentTCB->uxPriority < uxPriority )
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519 portYIELD_WITHIN_API();
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526 /*-----------------------------------------------------------*/
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528 #if ( INCLUDE_vTaskDelete == 1 )
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530 void vTaskDelete( xTaskHandle pxTaskToDelete )
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534 portENTER_CRITICAL();
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536 /* Ensure a yield is performed if the current task is being
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538 if( pxTaskToDelete == pxCurrentTCB )
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540 pxTaskToDelete = NULL;
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543 /* If null is passed in here then we are deleting ourselves. */
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544 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
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546 /* Remove task from the ready list and place in the termination list.
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547 This will stop the task from be scheduled. The idle task will check
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548 the termination list and free up any memory allocated by the
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549 scheduler for the TCB and stack. */
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550 vListRemove( &( pxTCB->xGenericListItem ) );
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552 /* Is the task waiting on an event also? */
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553 if( pxTCB->xEventListItem.pvContainer )
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555 vListRemove( &( pxTCB->xEventListItem ) );
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558 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
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560 /* Increment the ucTasksDeleted variable so the idle task knows
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561 there is a task that has been deleted and that it should therefore
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562 check the xTasksWaitingTermination list. */
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565 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
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566 can detect that the task lists need re-generating. */
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569 traceTASK_DELETE( pxTCB );
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571 portEXIT_CRITICAL();
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573 /* Force a reschedule if we have just deleted the current task. */
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574 if( xSchedulerRunning != pdFALSE )
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576 if( ( void * ) pxTaskToDelete == NULL )
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578 portYIELD_WITHIN_API();
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590 /*-----------------------------------------------------------
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591 * TASK CONTROL API documented in task.h
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592 *----------------------------------------------------------*/
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594 #if ( INCLUDE_vTaskDelayUntil == 1 )
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596 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
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598 portTickType xTimeToWake;
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599 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
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603 /* Generate the tick time at which the task wants to wake. */
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604 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
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606 if( xTickCount < *pxPreviousWakeTime )
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608 /* The tick count has overflowed since this function was
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609 lasted called. In this case the only time we should ever
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610 actually delay is if the wake time has also overflowed,
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611 and the wake time is greater than the tick time. When this
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612 is the case it is as if neither time had overflowed. */
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613 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
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615 xShouldDelay = pdTRUE;
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620 /* The tick time has not overflowed. In this case we will
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621 delay if either the wake time has overflowed, and/or the
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622 tick time is less than the wake time. */
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623 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
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625 xShouldDelay = pdTRUE;
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629 /* Update the wake time ready for the next call. */
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630 *pxPreviousWakeTime = xTimeToWake;
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634 traceTASK_DELAY_UNTIL();
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636 /* We must remove ourselves from the ready list before adding
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637 ourselves to the blocked list as the same list item is used for
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639 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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641 /* The list item will be inserted in wake time order. */
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642 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
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644 if( xTimeToWake < xTickCount )
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646 /* Wake time has overflowed. Place this item in the
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648 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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652 /* The wake time has not overflowed, so we can use the
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653 current block list. */
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654 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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658 xAlreadyYielded = xTaskResumeAll();
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660 /* Force a reschedule if xTaskResumeAll has not already done so, we may
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661 have put ourselves to sleep. */
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662 if( !xAlreadyYielded )
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664 portYIELD_WITHIN_API();
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669 /*-----------------------------------------------------------*/
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671 #if ( INCLUDE_vTaskDelay == 1 )
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673 void vTaskDelay( portTickType xTicksToDelay )
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675 portTickType xTimeToWake;
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676 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
678 /* A delay time of zero just forces a reschedule. */
\r
679 if( xTicksToDelay > ( portTickType ) 0 )
\r
685 /* A task that is removed from the event list while the
\r
686 scheduler is suspended will not get placed in the ready
\r
687 list or removed from the blocked list until the scheduler
\r
690 This task cannot be in an event list as it is the currently
\r
693 /* Calculate the time to wake - this may overflow but this is
\r
695 xTimeToWake = xTickCount + xTicksToDelay;
\r
697 /* We must remove ourselves from the ready list before adding
\r
698 ourselves to the blocked list as the same list item is used for
\r
700 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
702 /* The list item will be inserted in wake time order. */
\r
703 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
705 if( xTimeToWake < xTickCount )
\r
707 /* Wake time has overflowed. Place this item in the
\r
709 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
713 /* The wake time has not overflowed, so we can use the
\r
714 current block list. */
\r
715 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
718 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_uxTaskPriorityGet == 1 )
\r
734 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
737 unsigned portBASE_TYPE uxReturn;
\r
739 portENTER_CRITICAL();
\r
741 /* If null is passed in here then we are changing the
\r
742 priority of the calling function. */
\r
743 pxTCB = prvGetTCBFromHandle( pxTask );
\r
744 uxReturn = pxTCB->uxPriority;
\r
746 portEXIT_CRITICAL();
\r
752 /*-----------------------------------------------------------*/
\r
754 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
756 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
759 unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
\r
761 /* Ensure the new priority is valid. */
\r
762 if( uxNewPriority >= configMAX_PRIORITIES )
\r
764 uxNewPriority = configMAX_PRIORITIES - 1;
\r
767 portENTER_CRITICAL();
\r
769 if( pxTask == pxCurrentTCB )
\r
774 /* If null is passed in here then we are changing the
\r
775 priority of the calling function. */
\r
776 pxTCB = prvGetTCBFromHandle( pxTask );
\r
778 traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
\r
780 #if ( configUSE_MUTEXES == 1 )
\r
782 uxCurrentPriority = pxTCB->uxBasePriority;
\r
786 uxCurrentPriority = pxTCB->uxPriority;
\r
790 if( uxCurrentPriority != uxNewPriority )
\r
792 /* The priority change may have readied a task of higher
\r
793 priority than the calling task. */
\r
794 if( uxNewPriority > uxCurrentPriority )
\r
796 if( pxTask != NULL )
\r
798 /* The priority of another task is being raised. If we
\r
799 were raising the priority of the currently running task
\r
800 there would be no need to switch as it must have already
\r
801 been the highest priority task. */
\r
802 xYieldRequired = pdTRUE;
\r
805 else if( pxTask == NULL )
\r
807 /* Setting our own priority down means there may now be another
\r
808 task of higher priority that is ready to execute. */
\r
809 xYieldRequired = pdTRUE;
\r
814 #if ( configUSE_MUTEXES == 1 )
\r
816 /* Only change the priority being used if the task is not
\r
817 currently using an inherited priority. */
\r
818 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
820 pxTCB->uxPriority = uxNewPriority;
\r
823 /* The base priority gets set whatever. */
\r
824 pxTCB->uxBasePriority = uxNewPriority;
\r
828 pxTCB->uxPriority = uxNewPriority;
\r
832 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
834 /* If the task is in the blocked or suspended list we need do
\r
835 nothing more than change it's priority variable. However, if
\r
836 the task is in a ready list it needs to be removed and placed
\r
837 in the queue appropriate to its new priority. */
\r
838 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
840 /* The task is currently in its ready list - remove before adding
\r
841 it to it's new ready list. As we are in a critical section we
\r
842 can do this even if the scheduler is suspended. */
\r
843 vListRemove( &( pxTCB->xGenericListItem ) );
\r
844 prvAddTaskToReadyQueue( pxTCB );
\r
847 if( xYieldRequired == pdTRUE )
\r
849 portYIELD_WITHIN_API();
\r
853 portEXIT_CRITICAL();
\r
857 /*-----------------------------------------------------------*/
\r
859 #if ( INCLUDE_vTaskSuspend == 1 )
\r
861 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
865 portENTER_CRITICAL();
\r
867 /* Ensure a yield is performed if the current task is being
\r
869 if( pxTaskToSuspend == pxCurrentTCB )
\r
871 pxTaskToSuspend = NULL;
\r
874 /* If null is passed in here then we are suspending ourselves. */
\r
875 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
877 traceTASK_SUSPEND( pxTCB );
\r
879 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
880 vListRemove( &( pxTCB->xGenericListItem ) );
\r
882 /* Is the task waiting on an event also? */
\r
883 if( pxTCB->xEventListItem.pvContainer )
\r
885 vListRemove( &( pxTCB->xEventListItem ) );
\r
888 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
890 portEXIT_CRITICAL();
\r
892 /* We may have just suspended the current task. */
\r
893 if( ( void * ) pxTaskToSuspend == NULL )
\r
895 portYIELD_WITHIN_API();
\r
900 /*-----------------------------------------------------------*/
\r
902 #if ( INCLUDE_vTaskSuspend == 1 )
\r
904 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
906 portBASE_TYPE xReturn = pdFALSE;
\r
907 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
909 /* Is the task we are attempting to resume actually in the
\r
911 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
913 /* Has the task already been resumed from within an ISR? */
\r
914 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
916 /* Is it in the suspended list because it is in the
\r
917 Suspended state? It is possible to be in the suspended
\r
918 list because it is blocked on a task with no timeout
\r
920 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
931 /*-----------------------------------------------------------*/
\r
933 #if ( INCLUDE_vTaskSuspend == 1 )
\r
935 void vTaskResume( xTaskHandle pxTaskToResume )
\r
939 /* Remove the task from whichever list it is currently in, and place
\r
940 it in the ready list. */
\r
941 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
943 /* The parameter cannot be NULL as it is impossible to resume the
\r
944 currently executing task. */
\r
945 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
947 portENTER_CRITICAL();
\r
949 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
951 traceTASK_RESUME( pxTCB );
\r
953 /* As we are in a critical section we can access the ready
\r
954 lists even if the scheduler is suspended. */
\r
955 vListRemove( &( pxTCB->xGenericListItem ) );
\r
956 prvAddTaskToReadyQueue( pxTCB );
\r
958 /* We may have just resumed a higher priority task. */
\r
959 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
961 /* This yield may not cause the task just resumed to run, but
\r
962 will leave the lists in the correct state for the next yield. */
\r
963 portYIELD_WITHIN_API();
\r
967 portEXIT_CRITICAL();
\r
973 /*-----------------------------------------------------------*/
\r
975 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
977 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
979 portBASE_TYPE xYieldRequired = pdFALSE;
\r
982 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
984 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
986 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
988 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
990 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
991 vListRemove( &( pxTCB->xGenericListItem ) );
\r
992 prvAddTaskToReadyQueue( pxTCB );
\r
996 /* We cannot access the delayed or ready lists, so will hold this
\r
997 task pending until the scheduler is resumed, at which point a
\r
998 yield will be performed if necessary. */
\r
999 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1003 return xYieldRequired;
\r
1011 /*-----------------------------------------------------------
\r
1012 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1013 *----------------------------------------------------------*/
\r
1016 void vTaskStartScheduler( void )
\r
1018 portBASE_TYPE xReturn;
\r
1020 /* Add the idle task at the lowest priority. */
\r
1021 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), ( xTaskHandle * ) NULL );
\r
1023 if( xReturn == pdPASS )
\r
1025 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1026 before or during the call to xPortStartScheduler(). The stacks of
\r
1027 the created tasks contain a status word with interrupts switched on
\r
1028 so interrupts will automatically get re-enabled when the first task
\r
1031 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1032 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1033 portDISABLE_INTERRUPTS();
\r
1035 xSchedulerRunning = pdTRUE;
\r
1036 xTickCount = ( portTickType ) 0;
\r
1038 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1039 macro must be defined to configure the timer/counter used to generate
\r
1040 the run time counter time base. */
\r
1041 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1043 /* Setting up the timer tick is hardware specific and thus in the
\r
1044 portable interface. */
\r
1045 if( xPortStartScheduler() )
\r
1047 /* Should not reach here as if the scheduler is running the
\r
1048 function will not return. */
\r
1052 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1056 /*-----------------------------------------------------------*/
\r
1058 void vTaskEndScheduler( void )
\r
1060 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1061 routine so the original ISRs can be restored if necessary. The port
\r
1062 layer must ensure interrupts enable bit is left in the correct state. */
\r
1063 portDISABLE_INTERRUPTS();
\r
1064 xSchedulerRunning = pdFALSE;
\r
1065 vPortEndScheduler();
\r
1067 /*----------------------------------------------------------*/
\r
1069 void vTaskSuspendAll( void )
\r
1071 /* A critical section is not required as the variable is of type
\r
1073 ++uxSchedulerSuspended;
\r
1075 /*----------------------------------------------------------*/
\r
1077 signed portBASE_TYPE xTaskResumeAll( void )
\r
1079 register tskTCB *pxTCB;
\r
1080 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1082 /* It is possible that an ISR caused a task to be removed from an event
\r
1083 list while the scheduler was suspended. If this was the case then the
\r
1084 removed task will have been added to the xPendingReadyList. Once the
\r
1085 scheduler has been resumed it is safe to move all the pending ready
\r
1086 tasks from this list into their appropriate ready list. */
\r
1087 portENTER_CRITICAL();
\r
1089 --uxSchedulerSuspended;
\r
1091 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1093 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
\r
1095 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1097 /* Move any readied tasks from the pending list into the
\r
1098 appropriate ready list. */
\r
1099 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL )
\r
1101 vListRemove( &( pxTCB->xEventListItem ) );
\r
1102 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1103 prvAddTaskToReadyQueue( pxTCB );
\r
1105 /* If we have moved a task that has a priority higher than
\r
1106 the current task then we should yield. */
\r
1107 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1109 xYieldRequired = pdTRUE;
\r
1113 /* If any ticks occurred while the scheduler was suspended then
\r
1114 they should be processed now. This ensures the tick count does not
\r
1115 slip, and that any delayed tasks are resumed at the correct time. */
\r
1116 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1118 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1120 vTaskIncrementTick();
\r
1124 /* As we have processed some ticks it is appropriate to yield
\r
1125 to ensure the highest priority task that is ready to run is
\r
1126 the task actually running. */
\r
1127 #if configUSE_PREEMPTION == 1
\r
1129 xYieldRequired = pdTRUE;
\r
1134 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1136 xAlreadyYielded = pdTRUE;
\r
1137 xMissedYield = pdFALSE;
\r
1138 portYIELD_WITHIN_API();
\r
1143 portEXIT_CRITICAL();
\r
1145 return xAlreadyYielded;
\r
1153 /*-----------------------------------------------------------
\r
1154 * PUBLIC TASK UTILITIES documented in task.h
\r
1155 *----------------------------------------------------------*/
\r
1159 portTickType xTaskGetTickCount( void )
\r
1161 portTickType xTicks;
\r
1163 /* Critical section required if running on a 16 bit processor. */
\r
1164 portENTER_CRITICAL();
\r
1166 xTicks = xTickCount;
\r
1168 portEXIT_CRITICAL();
\r
1172 /*-----------------------------------------------------------*/
\r
1174 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1176 /* A critical section is not required because the variables are of type
\r
1178 return uxCurrentNumberOfTasks;
\r
1180 /*-----------------------------------------------------------*/
\r
1182 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1184 void vTaskList( signed char *pcWriteBuffer )
\r
1186 unsigned portBASE_TYPE uxQueue;
\r
1188 /* This is a VERY costly function that should be used for debug only.
\r
1189 It leaves interrupts disabled for a LONG time. */
\r
1191 vTaskSuspendAll();
\r
1193 /* Run through all the lists that could potentially contain a TCB and
\r
1194 report the task name, state and stack high water mark. */
\r
1196 pcWriteBuffer[ 0 ] = ( signed char ) 0x00;
\r
1197 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1199 uxQueue = uxTopUsedPriority + 1;
\r
1205 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1207 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1209 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1211 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1213 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1216 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1218 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1221 #if( INCLUDE_vTaskDelete == 1 )
\r
1223 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1225 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1230 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1232 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1234 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1243 /*----------------------------------------------------------*/
\r
1245 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1247 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1249 unsigned portBASE_TYPE uxQueue;
\r
1250 unsigned long ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1252 /* This is a VERY costly function that should be used for debug only.
\r
1253 It leaves interrupts disabled for a LONG time. */
\r
1255 vTaskSuspendAll();
\r
1257 /* Run through all the lists that could potentially contain a TCB,
\r
1258 generating a table of run timer percentages in the provided
\r
1261 pcWriteBuffer[ 0 ] = ( signed char ) 0x00;
\r
1262 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1264 uxQueue = uxTopUsedPriority + 1;
\r
1270 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1272 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
\r
1274 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1276 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1278 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
\r
1281 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1283 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
\r
1286 #if ( INCLUDE_vTaskDelete == 1 )
\r
1288 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1290 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, ulTotalRunTime );
\r
1295 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1297 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1299 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, ulTotalRunTime );
\r
1308 /*----------------------------------------------------------*/
\r
1310 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1312 void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize )
\r
1314 portENTER_CRITICAL();
\r
1316 pcTraceBuffer = ( signed char * )pcBuffer;
\r
1317 pcTraceBufferStart = pcBuffer;
\r
1318 pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
\r
1319 xTracing = pdTRUE;
\r
1321 portEXIT_CRITICAL();
\r
1325 /*----------------------------------------------------------*/
\r
1327 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1329 unsigned long ulTaskEndTrace( void )
\r
1331 unsigned long ulBufferLength;
\r
1333 portENTER_CRITICAL();
\r
1334 xTracing = pdFALSE;
\r
1335 portEXIT_CRITICAL();
\r
1337 ulBufferLength = ( unsigned long ) ( pcTraceBuffer - pcTraceBufferStart );
\r
1339 return ulBufferLength;
\r
1346 /*-----------------------------------------------------------
\r
1347 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1348 * documented in task.h
\r
1349 *----------------------------------------------------------*/
\r
1352 void vTaskIncrementTick( void )
\r
1354 /* Called by the portable layer each time a tick interrupt occurs.
\r
1355 Increments the tick then checks to see if the new tick value will cause any
\r
1356 tasks to be unblocked. */
\r
1357 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1360 if( xTickCount == ( portTickType ) 0 )
\r
1364 /* Tick count has overflowed so we need to swap the delay lists.
\r
1365 If there are any items in pxDelayedTaskList here then there is
\r
1367 pxTemp = pxDelayedTaskList;
\r
1368 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1369 pxOverflowDelayedTaskList = pxTemp;
\r
1370 xNumOfOverflows++;
\r
1373 /* See if this tick has made a timeout expire. */
\r
1374 prvCheckDelayedTasks();
\r
1380 /* The tick hook gets called at regular intervals, even if the
\r
1381 scheduler is locked. */
\r
1382 #if ( configUSE_TICK_HOOK == 1 )
\r
1384 extern void vApplicationTickHook( void );
\r
1386 vApplicationTickHook();
\r
1391 #if ( configUSE_TICK_HOOK == 1 )
\r
1393 extern void vApplicationTickHook( void );
\r
1395 /* Guard against the tick hook being called when the missed tick
\r
1396 count is being unwound (when the scheduler is being unlocked. */
\r
1397 if( uxMissedTicks == 0 )
\r
1399 vApplicationTickHook();
\r
1404 traceTASK_INCREMENT_TICK( xTickCount );
\r
1406 /*-----------------------------------------------------------*/
\r
1408 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1410 void vTaskCleanUpResources( void )
\r
1412 unsigned short usQueue;
\r
1413 volatile tskTCB *pxTCB;
\r
1415 usQueue = ( unsigned short ) uxTopUsedPriority + ( unsigned short ) 1;
\r
1417 /* Remove any TCB's from the ready queues. */
\r
1422 while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
\r
1424 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
\r
1425 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1427 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1429 }while( usQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1431 /* Remove any TCB's from the delayed queue. */
\r
1432 while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
\r
1434 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
\r
1435 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1437 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1440 /* Remove any TCB's from the overflow delayed queue. */
\r
1441 while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
\r
1443 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
\r
1444 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1446 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1449 while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1451 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
\r
1452 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1454 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1459 /*-----------------------------------------------------------*/
\r
1461 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1463 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue )
\r
1467 /* If xTask is NULL then we are setting our own task hook. */
\r
1468 if( xTask == NULL )
\r
1470 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1474 xTCB = ( tskTCB * ) xTask;
\r
1477 /* Save the hook function in the TCB. A critical section is required as
\r
1478 the value can be accessed from an interrupt. */
\r
1479 portENTER_CRITICAL();
\r
1480 xTCB->pxTaskTag = pxTagValue;
\r
1481 portEXIT_CRITICAL();
\r
1485 /*-----------------------------------------------------------*/
\r
1487 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1489 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1492 pdTASK_HOOK_CODE xReturn;
\r
1494 /* If xTask is NULL then we are setting our own task hook. */
\r
1495 if( xTask == NULL )
\r
1497 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1501 xTCB = ( tskTCB * ) xTask;
\r
1504 /* Save the hook function in the TCB. A critical section is required as
\r
1505 the value can be accessed from an interrupt. */
\r
1506 portENTER_CRITICAL();
\r
1507 xReturn = xTCB->pxTaskTag;
\r
1508 portEXIT_CRITICAL();
\r
1514 /*-----------------------------------------------------------*/
\r
1516 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1518 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1521 portBASE_TYPE xReturn;
\r
1523 /* If xTask is NULL then we are calling our own task hook. */
\r
1524 if( xTask == NULL )
\r
1526 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1530 xTCB = ( tskTCB * ) xTask;
\r
1533 if( xTCB->pxTaskTag != NULL )
\r
1535 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1546 /*-----------------------------------------------------------*/
\r
1548 void vTaskSwitchContext( void )
\r
1550 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1552 /* The scheduler is currently suspended - do not allow a context
\r
1554 xMissedYield = pdTRUE;
\r
1558 traceTASK_SWITCHED_OUT();
\r
1560 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1562 unsigned long ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
\r
1564 /* Add the amount of time the task has been running to the accumulated
\r
1565 time so far. The time the task started running was stored in
\r
1566 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1567 so count values are only valid until the timer overflows. Generally
\r
1568 this will be about 1 hour assuming a 1uS timer increment. */
\r
1569 pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
\r
1570 ulTaskSwitchedInTime = ulTempCounter;
\r
1574 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1575 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1577 /* Find the highest priority queue that contains ready tasks. */
\r
1578 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1580 --uxTopReadyPriority;
\r
1583 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1584 same priority get an equal share of the processor time. */
\r
1585 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1587 traceTASK_SWITCHED_IN();
\r
1588 vWriteTraceToBuffer();
\r
1590 /*-----------------------------------------------------------*/
\r
1592 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1594 portTickType xTimeToWake;
\r
1596 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1597 SCHEDULER SUSPENDED. */
\r
1599 /* Place the event list item of the TCB in the appropriate event list.
\r
1600 This is placed in the list in priority order so the highest priority task
\r
1601 is the first to be woken by the event. */
\r
1602 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1604 /* We must remove ourselves from the ready list before adding ourselves
\r
1605 to the blocked list as the same list item is used for both lists. We have
\r
1606 exclusive access to the ready lists as the scheduler is locked. */
\r
1607 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1610 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1612 if( xTicksToWait == portMAX_DELAY )
\r
1614 /* Add ourselves to the suspended task list instead of a delayed task
\r
1615 list to ensure we are not woken by a timing event. We will block
\r
1617 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1621 /* Calculate the time at which the task should be woken if the event does
\r
1622 not occur. This may overflow but this doesn't matter. */
\r
1623 xTimeToWake = xTickCount + xTicksToWait;
\r
1625 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1627 if( xTimeToWake < xTickCount )
\r
1629 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1630 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1634 /* The wake time has not overflowed, so we can use the current block list. */
\r
1635 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1641 /* Calculate the time at which the task should be woken if the event does
\r
1642 not occur. This may overflow but this doesn't matter. */
\r
1643 xTimeToWake = xTickCount + xTicksToWait;
\r
1645 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1647 if( xTimeToWake < xTickCount )
\r
1649 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1650 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1654 /* The wake time has not overflowed, so we can use the current block list. */
\r
1655 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1660 /*-----------------------------------------------------------*/
\r
1662 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1664 tskTCB *pxUnblockedTCB;
\r
1665 portBASE_TYPE xReturn;
\r
1667 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1668 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1670 /* The event list is sorted in priority order, so we can remove the
\r
1671 first in the list, remove the TCB from the delayed list, and add
\r
1672 it to the ready list.
\r
1674 If an event is for a queue that is locked then this function will never
\r
1675 get called - the lock count on the queue will get modified instead. This
\r
1676 means we can always expect exclusive access to the event list here. */
\r
1677 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1678 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1680 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1682 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1683 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1687 /* We cannot access the delayed or ready lists, so will hold this
\r
1688 task pending until the scheduler is resumed. */
\r
1689 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1692 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1694 /* Return true if the task removed from the event list has
\r
1695 a higher priority than the calling task. This allows
\r
1696 the calling task to know if it should force a context
\r
1702 xReturn = pdFALSE;
\r
1707 /*-----------------------------------------------------------*/
\r
1709 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1711 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1712 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1714 /*-----------------------------------------------------------*/
\r
1716 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1718 portBASE_TYPE xReturn;
\r
1720 portENTER_CRITICAL();
\r
1722 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1723 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1724 the maximum block time then the task should block indefinitely, and
\r
1725 therefore never time out. */
\r
1726 if( *pxTicksToWait == portMAX_DELAY )
\r
1728 xReturn = pdFALSE;
\r
1730 else /* We are not blocking indefinitely, perform the checks below. */
\r
1733 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
1735 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1736 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1737 It must have wrapped all the way around and gone past us again. This
\r
1738 passed since vTaskSetTimeout() was called. */
\r
1741 else if( ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) < ( portTickType ) *pxTicksToWait )
\r
1743 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1744 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
1745 vTaskSetTimeOutState( pxTimeOut );
\r
1746 xReturn = pdFALSE;
\r
1753 portEXIT_CRITICAL();
\r
1757 /*-----------------------------------------------------------*/
\r
1759 void vTaskMissedYield( void )
\r
1761 xMissedYield = pdTRUE;
\r
1765 * -----------------------------------------------------------
\r
1767 * ----------------------------------------------------------
\r
1769 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1770 * language extensions. The equivalent prototype for this function is:
\r
1772 * void prvIdleTask( void *pvParameters );
\r
1775 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1777 /* Stop warnings. */
\r
1778 ( void ) pvParameters;
\r
1782 /* See if any tasks have been deleted. */
\r
1783 prvCheckTasksWaitingTermination();
\r
1785 #if ( configUSE_PREEMPTION == 0 )
\r
1787 /* If we are not using preemption we keep forcing a task switch to
\r
1788 see if any other task has become available. If we are using
\r
1789 preemption we don't need to do this as any task becoming available
\r
1790 will automatically get the processor anyway. */
\r
1795 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1797 /* When using preemption tasks of equal priority will be
\r
1798 timesliced. If a task that is sharing the idle priority is ready
\r
1799 to run then the idle task should yield before the end of the
\r
1802 A critical region is not required here as we are just reading from
\r
1803 the list, and an occasional incorrect value will not matter. If
\r
1804 the ready list at the idle priority contains more than one task
\r
1805 then a task other than the idle task is ready to execute. */
\r
1806 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1813 #if ( configUSE_IDLE_HOOK == 1 )
\r
1815 extern void vApplicationIdleHook( void );
\r
1817 /* Call the user defined function from within the idle task. This
\r
1818 allows the application designer to add background functionality
\r
1819 without the overhead of a separate task.
\r
1820 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1821 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1822 vApplicationIdleHook();
\r
1826 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1834 /*-----------------------------------------------------------
\r
1835 * File private functions documented at the top of the file.
\r
1836 *----------------------------------------------------------*/
\r
1840 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
1842 /* Store the function name in the TCB. */
\r
1843 #if configMAX_TASK_NAME_LEN > 1
\r
1845 /* Don't bring strncpy into the build unnecessarily. */
\r
1846 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
1849 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = '\0';
\r
1851 /* This is used as an array index so must ensure it's not too large. First
\r
1852 remove the privilege bit if one is present. */
\r
1853 if( uxPriority >= configMAX_PRIORITIES )
\r
1855 uxPriority = configMAX_PRIORITIES - 1;
\r
1858 pxTCB->uxPriority = uxPriority;
\r
1859 #if ( configUSE_MUTEXES == 1 )
\r
1861 pxTCB->uxBasePriority = uxPriority;
\r
1865 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
1866 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
1868 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
1869 back to the containing TCB from a generic item in a list. */
\r
1870 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
1872 /* Event lists are always in priority order. */
\r
1873 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
1874 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
1876 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
1878 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
\r
1882 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1884 pxTCB->pxTaskTag = NULL;
\r
1888 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1890 pxTCB->ulRunTimeCounter = 0UL;
\r
1894 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
1896 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
1900 ( void ) xRegions;
\r
1901 ( void ) usStackDepth;
\r
1905 /*-----------------------------------------------------------*/
\r
1907 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
1909 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
1913 if( xTaskToModify == pxCurrentTCB )
\r
1915 xTaskToModify = NULL;
\r
1918 /* If null is passed in here then we are deleting ourselves. */
\r
1919 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
1921 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
1923 /*-----------------------------------------------------------*/
\r
1926 static void prvInitialiseTaskLists( void )
\r
1928 unsigned portBASE_TYPE uxPriority;
\r
1930 for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
1932 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
1935 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
1936 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
1937 vListInitialise( ( xList * ) &xPendingReadyList );
\r
1939 #if ( INCLUDE_vTaskDelete == 1 )
\r
1941 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
1945 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1947 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
1951 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
1953 pxDelayedTaskList = &xDelayedTaskList1;
\r
1954 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
1956 /*-----------------------------------------------------------*/
\r
1958 static void prvCheckTasksWaitingTermination( void )
\r
1960 #if ( INCLUDE_vTaskDelete == 1 )
\r
1962 portBASE_TYPE xListIsEmpty;
\r
1964 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
1965 too often in the idle task. */
\r
1966 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
\r
1968 vTaskSuspendAll();
\r
1969 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
1972 if( !xListIsEmpty )
\r
1976 portENTER_CRITICAL();
\r
1978 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
1979 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1980 --uxCurrentNumberOfTasks;
\r
1983 portEXIT_CRITICAL();
\r
1985 prvDeleteTCB( pxTCB );
\r
1991 /*-----------------------------------------------------------*/
\r
1993 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
1997 /* Allocate space for the TCB. Where the memory comes from depends on
\r
1998 the implementation of the port malloc function. */
\r
1999 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2001 if( pxNewTCB != NULL )
\r
2003 /* Allocate space for the stack used by the task being created.
\r
2004 The base of the stack memory stored in the TCB so the task can
\r
2005 be deleted later if required. */
\r
2006 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2008 if( pxNewTCB->pxStack == NULL )
\r
2010 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2011 vPortFree( pxNewTCB );
\r
2016 /* Just to help debugging. */
\r
2017 memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2023 /*-----------------------------------------------------------*/
\r
2025 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2027 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2029 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2030 unsigned short usStackRemaining;
\r
2032 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2033 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2036 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2037 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2038 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
2039 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2041 } while( pxNextTCB != pxFirstTCB );
\r
2045 /*-----------------------------------------------------------*/
\r
2047 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2049 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
\r
2051 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2052 unsigned long ulStatsAsPercentage;
\r
2054 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2055 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2058 /* Get next TCB in from the list. */
\r
2059 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2061 /* Divide by zero check. */
\r
2062 if( ulTotalRunTime > 0UL )
\r
2064 /* Has the task run at all? */
\r
2065 if( pxNextTCB->ulRunTimeCounter == 0 )
\r
2067 /* The task has used no CPU time at all. */
\r
2068 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2072 /* What percentage of the total run time as the task used?
\r
2073 This will always be rounded down to the nearest integer. */
\r
2074 ulStatsAsPercentage = ( 100UL * pxNextTCB->ulRunTimeCounter ) / ulTotalRunTime;
\r
2076 if( ulStatsAsPercentage > 0UL )
\r
2078 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2082 /* If the percentage is zero here then the task has
\r
2083 consumed less than 1% of the total run time. */
\r
2084 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2088 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2091 } while( pxNextTCB != pxFirstTCB );
\r
2095 /*-----------------------------------------------------------*/
\r
2097 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2099 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2101 register unsigned short usCount = 0;
\r
2103 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2105 pucStackByte -= portSTACK_GROWTH;
\r
2109 usCount /= sizeof( portSTACK_TYPE );
\r
2115 /*-----------------------------------------------------------*/
\r
2117 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2119 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2122 unsigned char *pcEndOfStack;
\r
2123 unsigned portBASE_TYPE uxReturn;
\r
2125 pxTCB = prvGetTCBFromHandle( xTask );
\r
2127 #if portSTACK_GROWTH < 0
\r
2129 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2133 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2137 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2143 /*-----------------------------------------------------------*/
\r
2145 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
\r
2147 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2149 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2150 the task to free any memory allocated at the application level. */
\r
2151 vPortFreeAligned( pxTCB->pxStack );
\r
2152 vPortFree( pxTCB );
\r
2158 /*-----------------------------------------------------------*/
\r
2160 #if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
\r
2162 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2164 xTaskHandle xReturn;
\r
2166 /* A critical section is not required as this is not called from
\r
2167 an interrupt and the current TCB will always be the same for any
\r
2168 individual execution thread. */
\r
2169 xReturn = pxCurrentTCB;
\r
2176 /*-----------------------------------------------------------*/
\r
2178 #if ( INCLUDE_xTaskGetSchedulerState == 1 )
\r
2180 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2182 portBASE_TYPE xReturn;
\r
2184 if( xSchedulerRunning == pdFALSE )
\r
2186 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2190 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2192 xReturn = taskSCHEDULER_RUNNING;
\r
2196 xReturn = taskSCHEDULER_SUSPENDED;
\r
2204 /*-----------------------------------------------------------*/
\r
2206 #if ( configUSE_MUTEXES == 1 )
\r
2208 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2210 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2212 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2214 /* Adjust the mutex holder state to account for its new priority. */
\r
2215 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2217 /* If the task being modified is in the ready state it will need to
\r
2218 be moved in to a new list. */
\r
2219 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
2221 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2223 /* Inherit the priority before being moved into the new list. */
\r
2224 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2225 prvAddTaskToReadyQueue( pxTCB );
\r
2229 /* Just inherit the priority. */
\r
2230 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2236 /*-----------------------------------------------------------*/
\r
2238 #if ( configUSE_MUTEXES == 1 )
\r
2240 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2242 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2244 if( pxMutexHolder != NULL )
\r
2246 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2248 /* We must be the running task to be able to give the mutex back.
\r
2249 Remove ourselves from the ready list we currently appear in. */
\r
2250 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2252 /* Disinherit the priority before adding ourselves into the new
\r
2254 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2255 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2256 prvAddTaskToReadyQueue( pxTCB );
\r
2262 /*-----------------------------------------------------------*/
\r
2264 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2266 void vTaskEnterCritical( void )
\r
2268 portDISABLE_INTERRUPTS();
\r
2270 if( xSchedulerRunning != pdFALSE )
\r
2272 pxCurrentTCB->uxCriticalNesting++;
\r
2277 /*-----------------------------------------------------------*/
\r
2279 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2281 void vTaskExitCritical( void )
\r
2283 if( xSchedulerRunning != pdFALSE )
\r
2285 if( pxCurrentTCB->uxCriticalNesting > 0 )
\r
2287 pxCurrentTCB->uxCriticalNesting--;
\r
2289 if( pxCurrentTCB->uxCriticalNesting == 0 )
\r
2291 portENABLE_INTERRUPTS();
\r
2298 /*-----------------------------------------------------------*/
\r
projects / freertos / blob