2 FreeRTOS.org V5.2.0 - Copyright (C) 2003-2009 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify it
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7 under the terms of the GNU General Public License (version 2) as published
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8 by the Free Software Foundation and modified by the FreeRTOS exception.
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10 FreeRTOS.org is distributed in the hope that it will be useful, but WITHOUT
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11 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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12 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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15 You should have received a copy of the GNU General Public License along
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16 with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59
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17 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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19 A special exception to the GPL is included to allow you to distribute a
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20 combined work that includes FreeRTOS.org without being obliged to provide
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21 the source code for any proprietary components. See the licensing section
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22 of http://www.FreeRTOS.org for full details.
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25 ***************************************************************************
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27 * Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
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29 * This is a concise, step by step, 'hands on' guide that describes both *
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30 * general multitasking concepts and FreeRTOS specifics. It presents and *
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31 * explains numerous examples that are written using the FreeRTOS API. *
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32 * Full source code for all the examples is provided in an accompanying *
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35 ***************************************************************************
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39 Please ensure to read the configuration and relevant port sections of the
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40 online documentation.
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42 http://www.FreeRTOS.org - Documentation, latest information, license and
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45 http://www.SafeRTOS.com - A version that is certified for use in safety
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48 http://www.OpenRTOS.com - Commercial support, development, porting,
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49 licensing and training services.
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57 #include "FreeRTOS.h"
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59 #include "StackMacros.h"
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62 * Macro to define the amount of stack available to the idle task.
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64 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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67 * Task control block. A task control block (TCB) is allocated to each task,
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68 * and stores the context of the task.
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70 typedef struct tskTaskControlBlock
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72 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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73 xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
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74 xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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75 unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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76 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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77 signed portCHAR pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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79 #if ( portSTACK_GROWTH > 0 )
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80 portSTACK_TYPE *pxEndOfStack; /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
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83 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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84 unsigned portBASE_TYPE uxCriticalNesting;
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87 #if ( configUSE_TRACE_FACILITY == 1 )
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88 unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
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91 #if ( configUSE_MUTEXES == 1 )
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92 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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95 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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96 pdTASK_HOOK_CODE pxTaskTag;
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99 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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100 unsigned portLONG ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
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106 * Some kernel aware debuggers require data to be viewed to be global, rather
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109 #ifdef portREMOVE_STATIC_QUALIFIER
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115 tskTCB * volatile pxCurrentTCB = NULL;
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117 /* Lists for ready and blocked tasks. --------------------*/
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119 static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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120 static xList xDelayedTaskList1; /*< Delayed tasks. */
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121 static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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122 static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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123 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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124 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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126 #if ( INCLUDE_vTaskDelete == 1 )
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128 static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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129 static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
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133 #if ( INCLUDE_vTaskSuspend == 1 )
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135 static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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139 /* File private variables. --------------------------------*/
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140 static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
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141 static volatile portTickType xTickCount = ( portTickType ) 0;
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142 static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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143 static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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144 static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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145 static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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146 static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
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147 static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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148 static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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149 static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0;
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151 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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153 static portCHAR pcStatsString[ 50 ];
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154 static unsigned portLONG ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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155 static void prvGenerateRunTimeStatsForTasksInList( const signed portCHAR *pcWriteBuffer, xList *pxList, unsigned portLONG ulTotalRunTime );
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159 /* Debugging and trace facilities private variables and macros. ------------*/
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162 * The value used to fill the stack of a task when the task is created. This
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163 * is used purely for checking the high water mark for tasks.
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165 #define tskSTACK_FILL_BYTE ( 0xa5 )
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168 * Macros used by vListTask to indicate which state a task is in.
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170 #define tskBLOCKED_CHAR ( ( signed portCHAR ) 'B' )
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171 #define tskREADY_CHAR ( ( signed portCHAR ) 'R' )
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172 #define tskDELETED_CHAR ( ( signed portCHAR ) 'D' )
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173 #define tskSUSPENDED_CHAR ( ( signed portCHAR ) 'S' )
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176 * Macros and private variables used by the trace facility.
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178 #if ( configUSE_TRACE_FACILITY == 1 )
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180 #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned portLONG ) ( sizeof( unsigned portLONG ) + sizeof( unsigned portLONG ) ) )
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181 static volatile signed portCHAR * volatile pcTraceBuffer;
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182 static signed portCHAR *pcTraceBufferStart;
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183 static signed portCHAR *pcTraceBufferEnd;
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184 static signed portBASE_TYPE xTracing = pdFALSE;
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185 static unsigned portBASE_TYPE uxPreviousTask = 255;
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186 static portCHAR pcStatusString[ 50 ];
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190 /*-----------------------------------------------------------*/
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193 * Macro that writes a trace of scheduler activity to a buffer. This trace
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194 * shows which task is running when and is very useful as a debugging tool.
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195 * As this macro is called each context switch it is a good idea to undefine
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196 * it if not using the facility.
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198 #if ( configUSE_TRACE_FACILITY == 1 )
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200 #define vWriteTraceToBuffer() \
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204 if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
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206 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
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208 uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
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209 *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) xTickCount; \
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210 pcTraceBuffer += sizeof( unsigned portLONG ); \
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211 *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) uxPreviousTask; \
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212 pcTraceBuffer += sizeof( unsigned portLONG ); \
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216 xTracing = pdFALSE; \
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224 #define vWriteTraceToBuffer()
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227 /*-----------------------------------------------------------*/
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230 * Place the task represented by pxTCB into the appropriate ready queue for
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231 * the task. It is inserted at the end of the list. One quirk of this is
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232 * that if the task being inserted is at the same priority as the currently
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233 * executing task, then it will only be rescheduled after the currently
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234 * executing task has been rescheduled.
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236 #define prvAddTaskToReadyQueue( pxTCB ) \
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238 if( pxTCB->uxPriority > uxTopReadyPriority ) \
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240 uxTopReadyPriority = pxTCB->uxPriority; \
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242 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \
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244 /*-----------------------------------------------------------*/
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247 * Macro that looks at the list of tasks that are currently delayed to see if
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248 * any require waking.
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250 * Tasks are stored in the queue in the order of their wake time - meaning
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251 * once one tasks has been found whose timer has not expired we need not look
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252 * any further down the list.
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254 #define prvCheckDelayedTasks() \
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256 register tskTCB *pxTCB; \
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258 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \
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260 if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \
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264 vListRemove( &( pxTCB->xGenericListItem ) ); \
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265 /* Is the task waiting on an event also? */ \
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266 if( pxTCB->xEventListItem.pvContainer ) \
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268 vListRemove( &( pxTCB->xEventListItem ) ); \
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270 prvAddTaskToReadyQueue( pxTCB ); \
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273 /*-----------------------------------------------------------*/
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276 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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277 * where NULL is used to indicate that the handle of the currently executing
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278 * task should be used in place of the parameter. This macro simply checks to
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279 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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281 #define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )
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284 /* File private functions. --------------------------------*/
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287 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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288 * into the TCB structure.
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290 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority );
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293 * Utility to ready all the lists used by the scheduler. This is called
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294 * automatically upon the creation of the first task.
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296 static void prvInitialiseTaskLists( void );
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299 * The idle task, which as all tasks is implemented as a never ending loop.
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300 * The idle task is automatically created and added to the ready lists upon
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301 * creation of the first user task.
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303 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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304 * language extensions. The equivalent prototype for this function is:
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306 * void prvIdleTask( void *pvParameters );
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309 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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312 * Utility to free all memory allocated by the scheduler to hold a TCB,
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313 * including the stack pointed to by the TCB.
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315 * This does not free memory allocated by the task itself (i.e. memory
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316 * allocated by calls to pvPortMalloc from within the tasks application code).
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318 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
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320 static void prvDeleteTCB( tskTCB *pxTCB );
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325 * Used only by the idle task. This checks to see if anything has been placed
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326 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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327 * and its TCB deleted.
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329 static void prvCheckTasksWaitingTermination( void );
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332 * Allocates memory from the heap for a TCB and associated stack. Checks the
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333 * allocation was successful.
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335 static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );
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338 * Called from vTaskList. vListTasks details all the tasks currently under
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339 * control of the scheduler. The tasks may be in one of a number of lists.
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340 * prvListTaskWithinSingleList accepts a list and details the tasks from
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341 * within just that list.
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343 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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344 * NORMAL APPLICATION CODE.
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346 #if ( configUSE_TRACE_FACILITY == 1 )
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348 static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus );
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353 * When a task is created, the stack of the task is filled with a known value.
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354 * This function determines the 'high water mark' of the task stack by
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355 * determining how much of the stack remains at the original preset value.
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357 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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359 unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte );
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368 /*-----------------------------------------------------------
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369 * TASK CREATION API documented in task.h
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370 *----------------------------------------------------------*/
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372 signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask )
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374 signed portBASE_TYPE xReturn;
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377 /* Allocate the memory required by the TCB and stack for the new task.
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378 checking that the allocation was successful. */
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379 pxNewTCB = prvAllocateTCBAndStack( usStackDepth );
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381 if( pxNewTCB != NULL )
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383 portSTACK_TYPE *pxTopOfStack;
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385 /* Setup the newly allocated TCB with the initial state of the task. */
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386 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority );
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388 /* Calculate the top of stack address. This depends on whether the
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389 stack grows from high memory to low (as per the 80x86) or visa versa.
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390 portSTACK_GROWTH is used to make the result positive or negative as
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391 required by the port. */
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392 #if portSTACK_GROWTH < 0
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394 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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398 pxTopOfStack = pxNewTCB->pxStack;
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400 /* If we want to use stack checking on architectures that use
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401 a positive stack growth direction then we also need to store the
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402 other extreme of the stack space. */
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403 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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407 /* Initialize the TCB stack to look as if the task was already running,
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408 but had been interrupted by the scheduler. The return address is set
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409 to the start of the task function. Once the stack has been initialised
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410 the top of stack variable is updated. */
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411 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pvTaskCode, pvParameters );
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413 /* We are going to manipulate the task queues to add this task to a
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414 ready list, so must make sure no interrupts occur. */
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415 portENTER_CRITICAL();
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417 uxCurrentNumberOfTasks++;
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418 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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420 /* As this is the first task it must also be the current task. */
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421 pxCurrentTCB = pxNewTCB;
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423 /* This is the first task to be created so do the preliminary
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424 initialisation required. We will not recover if this call
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425 fails, but we will report the failure. */
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426 prvInitialiseTaskLists();
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430 /* If the scheduler is not already running, make this task the
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431 current task if it is the highest priority task to be created
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433 if( xSchedulerRunning == pdFALSE )
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435 if( pxCurrentTCB->uxPriority <= uxPriority )
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437 pxCurrentTCB = pxNewTCB;
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442 /* Remember the top priority to make context switching faster. Use
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443 the priority in pxNewTCB as this has been capped to a valid value. */
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444 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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446 uxTopUsedPriority = pxNewTCB->uxPriority;
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449 #if ( configUSE_TRACE_FACILITY == 1 )
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451 /* Add a counter into the TCB for tracing only. */
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452 pxNewTCB->uxTCBNumber = uxTaskNumber;
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457 prvAddTaskToReadyQueue( pxNewTCB );
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460 traceTASK_CREATE( pxNewTCB );
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462 portEXIT_CRITICAL();
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466 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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467 traceTASK_CREATE_FAILED( pxNewTCB );
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470 if( xReturn == pdPASS )
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472 if( ( void * ) pxCreatedTask != NULL )
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474 /* Pass the TCB out - in an anonymous way. The calling function/
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475 task can use this as a handle to delete the task later if
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477 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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480 if( xSchedulerRunning != pdFALSE )
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482 /* If the created task is of a higher priority than the current task
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483 then it should run now. */
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484 if( pxCurrentTCB->uxPriority < uxPriority )
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493 /*-----------------------------------------------------------*/
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495 #if ( INCLUDE_vTaskDelete == 1 )
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497 void vTaskDelete( xTaskHandle pxTaskToDelete )
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501 taskENTER_CRITICAL();
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503 /* Ensure a yield is performed if the current task is being
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505 if( pxTaskToDelete == pxCurrentTCB )
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507 pxTaskToDelete = NULL;
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510 /* If null is passed in here then we are deleting ourselves. */
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511 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
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513 /* Remove task from the ready list and place in the termination list.
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514 This will stop the task from be scheduled. The idle task will check
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515 the termination list and free up any memory allocated by the
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516 scheduler for the TCB and stack. */
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517 vListRemove( &( pxTCB->xGenericListItem ) );
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519 /* Is the task waiting on an event also? */
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520 if( pxTCB->xEventListItem.pvContainer )
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522 vListRemove( &( pxTCB->xEventListItem ) );
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525 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
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527 /* Increment the ucTasksDeleted variable so the idle task knows
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528 there is a task that has been deleted and that it should therefore
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529 check the xTasksWaitingTermination list. */
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532 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
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533 can detect that the task lists need re-generating. */
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536 traceTASK_DELETE( pxTCB );
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538 taskEXIT_CRITICAL();
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540 /* Force a reschedule if we have just deleted the current task. */
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541 if( xSchedulerRunning != pdFALSE )
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543 if( ( void * ) pxTaskToDelete == NULL )
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557 /*-----------------------------------------------------------
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558 * TASK CONTROL API documented in task.h
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559 *----------------------------------------------------------*/
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561 #if ( INCLUDE_vTaskDelayUntil == 1 )
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563 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
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565 portTickType xTimeToWake;
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566 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
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570 /* Generate the tick time at which the task wants to wake. */
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571 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
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573 if( xTickCount < *pxPreviousWakeTime )
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575 /* The tick count has overflowed since this function was
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576 lasted called. In this case the only time we should ever
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577 actually delay is if the wake time has also overflowed,
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578 and the wake time is greater than the tick time. When this
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579 is the case it is as if neither time had overflowed. */
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580 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
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582 xShouldDelay = pdTRUE;
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587 /* The tick time has not overflowed. In this case we will
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588 delay if either the wake time has overflowed, and/or the
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589 tick time is less than the wake time. */
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590 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
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592 xShouldDelay = pdTRUE;
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596 /* Update the wake time ready for the next call. */
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597 *pxPreviousWakeTime = xTimeToWake;
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601 traceTASK_DELAY_UNTIL();
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603 /* We must remove ourselves from the ready list before adding
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604 ourselves to the blocked list as the same list item is used for
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606 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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608 /* The list item will be inserted in wake time order. */
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609 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
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611 if( xTimeToWake < xTickCount )
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613 /* Wake time has overflowed. Place this item in the
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615 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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619 /* The wake time has not overflowed, so we can use the
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620 current block list. */
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621 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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625 xAlreadyYielded = xTaskResumeAll();
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627 /* Force a reschedule if xTaskResumeAll has not already done so, we may
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628 have put ourselves to sleep. */
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629 if( !xAlreadyYielded )
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636 /*-----------------------------------------------------------*/
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638 #if ( INCLUDE_vTaskDelay == 1 )
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640 void vTaskDelay( portTickType xTicksToDelay )
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642 portTickType xTimeToWake;
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643 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
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645 /* A delay time of zero just forces a reschedule. */
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646 if( xTicksToDelay > ( portTickType ) 0 )
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652 /* A task that is removed from the event list while the
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653 scheduler is suspended will not get placed in the ready
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654 list or removed from the blocked list until the scheduler
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657 This task cannot be in an event list as it is the currently
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660 /* Calculate the time to wake - this may overflow but this is
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662 xTimeToWake = xTickCount + xTicksToDelay;
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664 /* We must remove ourselves from the ready list before adding
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665 ourselves to the blocked list as the same list item is used for
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667 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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669 /* The list item will be inserted in wake time order. */
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670 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
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672 if( xTimeToWake < xTickCount )
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674 /* Wake time has overflowed. Place this item in the
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676 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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680 /* The wake time has not overflowed, so we can use the
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681 current block list. */
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682 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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685 xAlreadyYielded = xTaskResumeAll();
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688 /* Force a reschedule if xTaskResumeAll has not already done so, we may
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689 have put ourselves to sleep. */
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690 if( !xAlreadyYielded )
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697 /*-----------------------------------------------------------*/
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699 #if ( INCLUDE_uxTaskPriorityGet == 1 )
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701 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
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704 unsigned portBASE_TYPE uxReturn;
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706 taskENTER_CRITICAL();
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708 /* If null is passed in here then we are changing the
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709 priority of the calling function. */
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710 pxTCB = prvGetTCBFromHandle( pxTask );
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711 uxReturn = pxTCB->uxPriority;
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713 taskEXIT_CRITICAL();
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719 /*-----------------------------------------------------------*/
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721 #if ( INCLUDE_vTaskPrioritySet == 1 )
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723 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
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726 unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
\r
728 /* Ensure the new priority is valid. */
\r
729 if( uxNewPriority >= configMAX_PRIORITIES )
\r
731 uxNewPriority = configMAX_PRIORITIES - 1;
\r
734 taskENTER_CRITICAL();
\r
736 if( pxTask == pxCurrentTCB )
\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
745 traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
\r
747 #if ( configUSE_MUTEXES == 1 )
\r
749 uxCurrentPriority = pxTCB->uxBasePriority;
\r
753 uxCurrentPriority = pxTCB->uxPriority;
\r
757 if( uxCurrentPriority != uxNewPriority )
\r
759 /* The priority change may have readied a task of higher
\r
760 priority than the calling task. */
\r
761 if( uxNewPriority > uxCurrentPriority )
\r
763 if( pxTask != NULL )
\r
765 /* The priority of another task is being raised. If we
\r
766 were raising the priority of the currently running task
\r
767 there would be no need to switch as it must have already
\r
768 been the highest priority task. */
\r
769 xYieldRequired = pdTRUE;
\r
772 else if( pxTask == NULL )
\r
774 /* Setting our own priority down means there may now be another
\r
775 task of higher priority that is ready to execute. */
\r
776 xYieldRequired = pdTRUE;
\r
781 #if ( configUSE_MUTEXES == 1 )
\r
783 /* Only change the priority being used if the task is not
\r
784 currently using an inherited priority. */
\r
785 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
787 pxTCB->uxPriority = uxNewPriority;
\r
790 /* The base priority gets set whatever. */
\r
791 pxTCB->uxBasePriority = uxNewPriority;
\r
795 pxTCB->uxPriority = uxNewPriority;
\r
799 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
801 /* If the task is in the blocked or suspended list we need do
\r
802 nothing more than change it's priority variable. However, if
\r
803 the task is in a ready list it needs to be removed and placed
\r
804 in the queue appropriate to its new priority. */
\r
805 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
807 /* The task is currently in its ready list - remove before adding
\r
808 it to it's new ready list. As we are in a critical section we
\r
809 can do this even if the scheduler is suspended. */
\r
810 vListRemove( &( pxTCB->xGenericListItem ) );
\r
811 prvAddTaskToReadyQueue( pxTCB );
\r
814 if( xYieldRequired == pdTRUE )
\r
820 taskEXIT_CRITICAL();
\r
824 /*-----------------------------------------------------------*/
\r
826 #if ( INCLUDE_vTaskSuspend == 1 )
\r
828 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
832 taskENTER_CRITICAL();
\r
834 /* Ensure a yield is performed if the current task is being
\r
836 if( pxTaskToSuspend == pxCurrentTCB )
\r
838 pxTaskToSuspend = NULL;
\r
841 /* If null is passed in here then we are suspending ourselves. */
\r
842 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
844 traceTASK_SUSPEND( pxTCB );
\r
846 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
847 vListRemove( &( pxTCB->xGenericListItem ) );
\r
849 /* Is the task waiting on an event also? */
\r
850 if( pxTCB->xEventListItem.pvContainer )
\r
852 vListRemove( &( pxTCB->xEventListItem ) );
\r
855 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
857 taskEXIT_CRITICAL();
\r
859 /* We may have just suspended the current task. */
\r
860 if( ( void * ) pxTaskToSuspend == NULL )
\r
867 /*-----------------------------------------------------------*/
\r
869 #if ( INCLUDE_vTaskSuspend == 1 )
\r
871 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
873 portBASE_TYPE xReturn = pdFALSE;
\r
874 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
876 /* Is the task we are attempting to resume actually in the
\r
878 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
880 /* Has the task already been resumed from within an ISR? */
\r
881 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
883 /* Is it in the suspended list because it is in the
\r
884 Suspended state? It is possible to be in the suspended
\r
885 list because it is blocked on a task with no timeout
\r
887 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
898 /*-----------------------------------------------------------*/
\r
900 #if ( INCLUDE_vTaskSuspend == 1 )
\r
902 void vTaskResume( xTaskHandle pxTaskToResume )
\r
906 /* Remove the task from whichever list it is currently in, and place
\r
907 it in the ready list. */
\r
908 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
910 /* The parameter cannot be NULL as it is impossible to resume the
\r
911 currently executing task. */
\r
912 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
914 taskENTER_CRITICAL();
\r
916 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
918 traceTASK_RESUME( pxTCB );
\r
920 /* As we are in a critical section we can access the ready
\r
921 lists even if the scheduler is suspended. */
\r
922 vListRemove( &( pxTCB->xGenericListItem ) );
\r
923 prvAddTaskToReadyQueue( pxTCB );
\r
925 /* We may have just resumed a higher priority task. */
\r
926 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
928 /* This yield may not cause the task just resumed to run, but
\r
929 will leave the lists in the correct state for the next yield. */
\r
934 taskEXIT_CRITICAL();
\r
940 /*-----------------------------------------------------------*/
\r
942 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
944 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
946 portBASE_TYPE xYieldRequired = pdFALSE;
\r
949 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
951 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
953 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
955 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
957 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
958 vListRemove( &( pxTCB->xGenericListItem ) );
\r
959 prvAddTaskToReadyQueue( pxTCB );
\r
963 /* We cannot access the delayed or ready lists, so will hold this
\r
964 task pending until the scheduler is resumed, at which point a
\r
965 yield will be performed if necessary. */
\r
966 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
970 return xYieldRequired;
\r
978 /*-----------------------------------------------------------
\r
979 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
980 *----------------------------------------------------------*/
\r
983 void vTaskStartScheduler( void )
\r
985 portBASE_TYPE xReturn;
\r
987 /* Add the idle task at the lowest priority. */
\r
988 xReturn = xTaskCreate( prvIdleTask, ( signed portCHAR * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
\r
990 if( xReturn == pdPASS )
\r
992 /* Interrupts are turned off here, to ensure a tick does not occur
\r
993 before or during the call to xPortStartScheduler(). The stacks of
\r
994 the created tasks contain a status word with interrupts switched on
\r
995 so interrupts will automatically get re-enabled when the first task
\r
998 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
999 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1000 portDISABLE_INTERRUPTS();
\r
1002 xSchedulerRunning = pdTRUE;
\r
1003 xTickCount = ( portTickType ) 0;
\r
1005 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1006 macro must be defined to configure the timer/counter used to generate
\r
1007 the run time counter time base. */
\r
1008 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1010 /* Setting up the timer tick is hardware specific and thus in the
\r
1011 portable interface. */
\r
1012 if( xPortStartScheduler() )
\r
1014 /* Should not reach here as if the scheduler is running the
\r
1015 function will not return. */
\r
1019 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1023 /*-----------------------------------------------------------*/
\r
1025 void vTaskEndScheduler( void )
\r
1027 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1028 routine so the original ISRs can be restored if necessary. The port
\r
1029 layer must ensure interrupts enable bit is left in the correct state. */
\r
1030 portDISABLE_INTERRUPTS();
\r
1031 xSchedulerRunning = pdFALSE;
\r
1032 vPortEndScheduler();
\r
1034 /*----------------------------------------------------------*/
\r
1036 void vTaskSuspendAll( void )
\r
1038 /* A critical section is not required as the variable is of type
\r
1040 ++uxSchedulerSuspended;
\r
1042 /*----------------------------------------------------------*/
\r
1044 signed portBASE_TYPE xTaskResumeAll( void )
\r
1046 register tskTCB *pxTCB;
\r
1047 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1049 /* It is possible that an ISR caused a task to be removed from an event
\r
1050 list while the scheduler was suspended. If this was the case then the
\r
1051 removed task will have been added to the xPendingReadyList. Once the
\r
1052 scheduler has been resumed it is safe to move all the pending ready
\r
1053 tasks from this list into their appropriate ready list. */
\r
1054 portENTER_CRITICAL();
\r
1056 --uxSchedulerSuspended;
\r
1058 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1060 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
\r
1062 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1064 /* Move any readied tasks from the pending list into the
\r
1065 appropriate ready list. */
\r
1066 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL )
\r
1068 vListRemove( &( pxTCB->xEventListItem ) );
\r
1069 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1070 prvAddTaskToReadyQueue( pxTCB );
\r
1072 /* If we have moved a task that has a priority higher than
\r
1073 the current task then we should yield. */
\r
1074 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1076 xYieldRequired = pdTRUE;
\r
1080 /* If any ticks occurred while the scheduler was suspended then
\r
1081 they should be processed now. This ensures the tick count does not
\r
1082 slip, and that any delayed tasks are resumed at the correct time. */
\r
1083 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1085 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1087 vTaskIncrementTick();
\r
1091 /* As we have processed some ticks it is appropriate to yield
\r
1092 to ensure the highest priority task that is ready to run is
\r
1093 the task actually running. */
\r
1094 #if configUSE_PREEMPTION == 1
\r
1096 xYieldRequired = pdTRUE;
\r
1101 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1103 xAlreadyYielded = pdTRUE;
\r
1104 xMissedYield = pdFALSE;
\r
1110 portEXIT_CRITICAL();
\r
1112 return xAlreadyYielded;
\r
1120 /*-----------------------------------------------------------
\r
1121 * PUBLIC TASK UTILITIES documented in task.h
\r
1122 *----------------------------------------------------------*/
\r
1126 portTickType xTaskGetTickCount( void )
\r
1128 portTickType xTicks;
\r
1130 /* Critical section required if running on a 16 bit processor. */
\r
1131 taskENTER_CRITICAL();
\r
1133 xTicks = xTickCount;
\r
1135 taskEXIT_CRITICAL();
\r
1139 /*-----------------------------------------------------------*/
\r
1141 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1143 /* A critical section is not required because the variables are of type
\r
1145 return uxCurrentNumberOfTasks;
\r
1147 /*-----------------------------------------------------------*/
\r
1149 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1151 void vTaskList( signed portCHAR *pcWriteBuffer )
\r
1153 unsigned portBASE_TYPE uxQueue;
\r
1155 /* This is a VERY costly function that should be used for debug only.
\r
1156 It leaves interrupts disabled for a LONG time. */
\r
1158 vTaskSuspendAll();
\r
1160 /* Run through all the lists that could potentially contain a TCB and
\r
1161 report the task name, state and stack high water mark. */
\r
1163 pcWriteBuffer[ 0 ] = ( signed portCHAR ) 0x00;
\r
1164 strcat( ( portCHAR * ) pcWriteBuffer, ( const portCHAR * ) "\r\n" );
\r
1166 uxQueue = uxTopUsedPriority + 1;
\r
1172 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1174 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1176 }while( uxQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
\r
1178 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1180 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1183 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1185 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1188 #if( INCLUDE_vTaskDelete == 1 )
\r
1190 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1192 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1197 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1199 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1201 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1210 /*----------------------------------------------------------*/
\r
1212 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1214 void vTaskGetRunTimeStats( signed portCHAR *pcWriteBuffer )
\r
1216 unsigned portBASE_TYPE uxQueue;
\r
1217 unsigned portLONG ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1219 /* This is a VERY costly function that should be used for debug only.
\r
1220 It leaves interrupts disabled for a LONG time. */
\r
1222 vTaskSuspendAll();
\r
1224 /* Run through all the lists that could potentially contain a TCB,
\r
1225 generating a table of run timer percentages in the provided
\r
1228 pcWriteBuffer[ 0 ] = ( signed portCHAR ) 0x00;
\r
1229 strcat( ( portCHAR * ) pcWriteBuffer, ( const portCHAR * ) "\r\n" );
\r
1231 uxQueue = uxTopUsedPriority + 1;
\r
1237 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1239 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
\r
1241 }while( uxQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
\r
1243 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1245 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
\r
1248 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1250 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
\r
1253 #if ( INCLUDE_vTaskDelete == 1 )
\r
1255 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1257 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, ulTotalRunTime );
\r
1262 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1264 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1266 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, ulTotalRunTime );
\r
1275 /*----------------------------------------------------------*/
\r
1277 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1279 void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize )
\r
1281 portENTER_CRITICAL();
\r
1283 pcTraceBuffer = ( signed portCHAR * )pcBuffer;
\r
1284 pcTraceBufferStart = pcBuffer;
\r
1285 pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
\r
1286 xTracing = pdTRUE;
\r
1288 portEXIT_CRITICAL();
\r
1292 /*----------------------------------------------------------*/
\r
1294 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1296 unsigned portLONG ulTaskEndTrace( void )
\r
1298 unsigned portLONG ulBufferLength;
\r
1300 portENTER_CRITICAL();
\r
1301 xTracing = pdFALSE;
\r
1302 portEXIT_CRITICAL();
\r
1304 ulBufferLength = ( unsigned portLONG ) ( pcTraceBuffer - pcTraceBufferStart );
\r
1306 return ulBufferLength;
\r
1313 /*-----------------------------------------------------------
\r
1314 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1315 * documented in task.h
\r
1316 *----------------------------------------------------------*/
\r
1319 void vTaskIncrementTick( void )
\r
1321 /* Called by the portable layer each time a tick interrupt occurs.
\r
1322 Increments the tick then checks to see if the new tick value will cause any
\r
1323 tasks to be unblocked. */
\r
1324 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1327 if( xTickCount == ( portTickType ) 0 )
\r
1331 /* Tick count has overflowed so we need to swap the delay lists.
\r
1332 If there are any items in pxDelayedTaskList here then there is
\r
1334 pxTemp = pxDelayedTaskList;
\r
1335 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1336 pxOverflowDelayedTaskList = pxTemp;
\r
1337 xNumOfOverflows++;
\r
1340 /* See if this tick has made a timeout expire. */
\r
1341 prvCheckDelayedTasks();
\r
1347 /* The tick hook gets called at regular intervals, even if the
\r
1348 scheduler is locked. */
\r
1349 #if ( configUSE_TICK_HOOK == 1 )
\r
1351 extern void vApplicationTickHook( void );
\r
1353 vApplicationTickHook();
\r
1358 #if ( configUSE_TICK_HOOK == 1 )
\r
1360 extern void vApplicationTickHook( void );
\r
1362 /* Guard against the tick hook being called when the missed tick
\r
1363 count is being unwound (when the scheduler is being unlocked. */
\r
1364 if( uxMissedTicks == 0 )
\r
1366 vApplicationTickHook();
\r
1371 traceTASK_INCREMENT_TICK( xTickCount );
\r
1373 /*-----------------------------------------------------------*/
\r
1375 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1377 void vTaskCleanUpResources( void )
\r
1379 unsigned portSHORT usQueue;
\r
1380 volatile tskTCB *pxTCB;
\r
1382 usQueue = ( unsigned portSHORT ) uxTopUsedPriority + ( unsigned portSHORT ) 1;
\r
1384 /* Remove any TCB's from the ready queues. */
\r
1389 while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
\r
1391 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
\r
1392 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1394 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1396 }while( usQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
\r
1398 /* Remove any TCB's from the delayed queue. */
\r
1399 while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
\r
1401 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
\r
1402 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1404 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1407 /* Remove any TCB's from the overflow delayed queue. */
\r
1408 while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
\r
1410 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
\r
1411 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1413 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1416 while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1418 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
\r
1419 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1421 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1426 /*-----------------------------------------------------------*/
\r
1428 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1430 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue )
\r
1434 /* If xTask is NULL then we are setting our own task hook. */
\r
1435 if( xTask == NULL )
\r
1437 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1441 xTCB = ( tskTCB * ) xTask;
\r
1444 /* Save the hook function in the TCB. A critical section is required as
\r
1445 the value can be accessed from an interrupt. */
\r
1446 portENTER_CRITICAL();
\r
1447 xTCB->pxTaskTag = pxTagValue;
\r
1448 portEXIT_CRITICAL();
\r
1452 /*-----------------------------------------------------------*/
\r
1454 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1456 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1459 portBASE_TYPE xReturn;
\r
1461 /* If xTask is NULL then we are calling our own task hook. */
\r
1462 if( xTask == NULL )
\r
1464 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1468 xTCB = ( tskTCB * ) xTask;
\r
1471 if( xTCB->pxTaskTag != NULL )
\r
1473 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1484 /*-----------------------------------------------------------*/
\r
1486 void vTaskSwitchContext( void )
\r
1488 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1490 /* The scheduler is currently suspended - do not allow a context
\r
1492 xMissedYield = pdTRUE;
\r
1496 traceTASK_SWITCHED_OUT();
\r
1498 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1500 unsigned portLONG ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
\r
1502 /* Add the amount of time the task has been running to the accumulated
\r
1503 time so far. The time the task started running was stored in
\r
1504 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1505 so count values are only valid until the timer overflows. Generally
\r
1506 this will be about 1 hour assuming a 1uS timer increment. */
\r
1507 pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
\r
1508 ulTaskSwitchedInTime = ulTempCounter;
\r
1512 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1513 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1515 /* Find the highest priority queue that contains ready tasks. */
\r
1516 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1518 --uxTopReadyPriority;
\r
1521 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1522 same priority get an equal share of the processor time. */
\r
1523 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1525 traceTASK_SWITCHED_IN();
\r
1526 vWriteTraceToBuffer();
\r
1528 /*-----------------------------------------------------------*/
\r
1530 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1532 portTickType xTimeToWake;
\r
1534 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1535 SCHEDULER SUSPENDED. */
\r
1537 /* Place the event list item of the TCB in the appropriate event list.
\r
1538 This is placed in the list in priority order so the highest priority task
\r
1539 is the first to be woken by the event. */
\r
1540 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1542 /* We must remove ourselves from the ready list before adding ourselves
\r
1543 to the blocked list as the same list item is used for both lists. We have
\r
1544 exclusive access to the ready lists as the scheduler is locked. */
\r
1545 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1548 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1550 if( xTicksToWait == portMAX_DELAY )
\r
1552 /* Add ourselves to the suspended task list instead of a delayed task
\r
1553 list to ensure we are not woken by a timing event. We will block
\r
1555 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1559 /* Calculate the time at which the task should be woken if the event does
\r
1560 not occur. This may overflow but this doesn't matter. */
\r
1561 xTimeToWake = xTickCount + xTicksToWait;
\r
1563 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1565 if( xTimeToWake < xTickCount )
\r
1567 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1568 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1572 /* The wake time has not overflowed, so we can use the current block list. */
\r
1573 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1579 /* Calculate the time at which the task should be woken if the event does
\r
1580 not occur. This may overflow but this doesn't matter. */
\r
1581 xTimeToWake = xTickCount + xTicksToWait;
\r
1583 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1585 if( xTimeToWake < xTickCount )
\r
1587 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1588 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1592 /* The wake time has not overflowed, so we can use the current block list. */
\r
1593 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1598 /*-----------------------------------------------------------*/
\r
1600 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1602 tskTCB *pxUnblockedTCB;
\r
1603 portBASE_TYPE xReturn;
\r
1605 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1606 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1608 /* The event list is sorted in priority order, so we can remove the
\r
1609 first in the list, remove the TCB from the delayed list, and add
\r
1610 it to the ready list.
\r
1612 If an event is for a queue that is locked then this function will never
\r
1613 get called - the lock count on the queue will get modified instead. This
\r
1614 means we can always expect exclusive access to the event list here. */
\r
1615 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1616 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1618 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1620 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1621 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1625 /* We cannot access the delayed or ready lists, so will hold this
\r
1626 task pending until the scheduler is resumed. */
\r
1627 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1630 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1632 /* Return true if the task removed from the event list has
\r
1633 a higher priority than the calling task. This allows
\r
1634 the calling task to know if it should force a context
\r
1640 xReturn = pdFALSE;
\r
1645 /*-----------------------------------------------------------*/
\r
1647 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1649 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1650 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1652 /*-----------------------------------------------------------*/
\r
1654 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1656 portBASE_TYPE xReturn;
\r
1658 portENTER_CRITICAL();
\r
1660 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1661 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1662 the maximum block time then the task should block indefinitely, and
\r
1663 therefore never time out. */
\r
1664 if( *pxTicksToWait == portMAX_DELAY )
\r
1666 xReturn = pdFALSE;
\r
1668 else /* We are not blocking indefinitely, perform the checks below. */
\r
1671 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xTickCount >= pxTimeOut->xTimeOnEntering ) )
\r
1673 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1674 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1675 It must have wrapped all the way around and gone past us again. This
\r
1676 passed since vTaskSetTimeout() was called. */
\r
1679 else if( ( xTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
1681 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1682 *pxTicksToWait -= ( xTickCount - pxTimeOut->xTimeOnEntering );
\r
1683 vTaskSetTimeOutState( pxTimeOut );
\r
1684 xReturn = pdFALSE;
\r
1691 portEXIT_CRITICAL();
\r
1695 /*-----------------------------------------------------------*/
\r
1697 void vTaskMissedYield( void )
\r
1699 xMissedYield = pdTRUE;
\r
1703 * -----------------------------------------------------------
\r
1705 * ----------------------------------------------------------
\r
1707 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1708 * language extensions. The equivalent prototype for this function is:
\r
1710 * void prvIdleTask( void *pvParameters );
\r
1713 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1715 /* Stop warnings. */
\r
1716 ( void ) pvParameters;
\r
1720 /* See if any tasks have been deleted. */
\r
1721 prvCheckTasksWaitingTermination();
\r
1723 #if ( configUSE_PREEMPTION == 0 )
\r
1725 /* If we are not using preemption we keep forcing a task switch to
\r
1726 see if any other task has become available. If we are using
\r
1727 preemption we don't need to do this as any task becoming available
\r
1728 will automatically get the processor anyway. */
\r
1733 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1735 /* When using preemption tasks of equal priority will be
\r
1736 timesliced. If a task that is sharing the idle priority is ready
\r
1737 to run then the idle task should yield before the end of the
\r
1740 A critical region is not required here as we are just reading from
\r
1741 the list, and an occasional incorrect value will not matter. If
\r
1742 the ready list at the idle priority contains more than one task
\r
1743 then a task other than the idle task is ready to execute. */
\r
1744 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1751 #if ( configUSE_IDLE_HOOK == 1 )
\r
1753 extern void vApplicationIdleHook( void );
\r
1755 /* Call the user defined function from within the idle task. This
\r
1756 allows the application designer to add background functionality
\r
1757 without the overhead of a separate task.
\r
1758 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1759 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1760 vApplicationIdleHook();
\r
1764 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1772 /*-----------------------------------------------------------
\r
1773 * File private functions documented at the top of the file.
\r
1774 *----------------------------------------------------------*/
\r
1778 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority )
\r
1780 /* Store the function name in the TCB. */
\r
1781 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned portSHORT ) configMAX_TASK_NAME_LEN );
\r
1782 pxTCB->pcTaskName[ ( unsigned portSHORT ) configMAX_TASK_NAME_LEN - ( unsigned portSHORT ) 1 ] = '\0';
\r
1784 /* This is used as an array index so must ensure it's not too large. */
\r
1785 if( uxPriority >= configMAX_PRIORITIES )
\r
1787 uxPriority = configMAX_PRIORITIES - 1;
\r
1790 pxTCB->uxPriority = uxPriority;
\r
1791 #if ( configUSE_MUTEXES == 1 )
\r
1793 pxTCB->uxBasePriority = uxPriority;
\r
1797 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
1798 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
1800 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
1801 back to the containing TCB from a generic item in a list. */
\r
1802 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
1804 /* Event lists are always in priority order. */
\r
1805 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
1806 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
1808 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
1810 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
\r
1814 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1816 pxTCB->pxTaskTag = NULL;
\r
1820 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1822 pxTCB->ulRunTimeCounter = 0UL;
\r
1826 /*-----------------------------------------------------------*/
\r
1828 static void prvInitialiseTaskLists( void )
\r
1830 unsigned portBASE_TYPE uxPriority;
\r
1832 for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
1834 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
1837 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
1838 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
1839 vListInitialise( ( xList * ) &xPendingReadyList );
\r
1841 #if ( INCLUDE_vTaskDelete == 1 )
\r
1843 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
1847 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1849 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
1853 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
1855 pxDelayedTaskList = &xDelayedTaskList1;
\r
1856 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
1858 /*-----------------------------------------------------------*/
\r
1860 static void prvCheckTasksWaitingTermination( void )
\r
1862 #if ( INCLUDE_vTaskDelete == 1 )
\r
1864 portBASE_TYPE xListIsEmpty;
\r
1866 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
1867 too often in the idle task. */
\r
1868 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
\r
1870 vTaskSuspendAll();
\r
1871 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
1874 if( !xListIsEmpty )
\r
1878 portENTER_CRITICAL();
\r
1880 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
1881 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1882 --uxCurrentNumberOfTasks;
\r
1885 portEXIT_CRITICAL();
\r
1887 prvDeleteTCB( pxTCB );
\r
1893 /*-----------------------------------------------------------*/
\r
1895 static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth )
\r
1899 /* Allocate space for the TCB. Where the memory comes from depends on
\r
1900 the implementation of the port malloc function. */
\r
1901 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
1903 if( pxNewTCB != NULL )
\r
1905 /* Allocate space for the stack used by the task being created.
\r
1906 The base of the stack memory stored in the TCB so the task can
\r
1907 be deleted later if required. */
\r
1908 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMalloc( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) );
\r
1910 if( pxNewTCB->pxStack == NULL )
\r
1912 /* Could not allocate the stack. Delete the allocated TCB. */
\r
1913 vPortFree( pxNewTCB );
\r
1918 /* Just to help debugging. */
\r
1919 memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
\r
1925 /*-----------------------------------------------------------*/
\r
1927 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1929 static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus )
\r
1931 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
1932 unsigned portSHORT usStackRemaining;
\r
1934 /* Write the details of all the TCB's in pxList into the buffer. */
\r
1935 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
1938 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
1939 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned portCHAR * ) pxNextTCB->pxStack );
\r
1940 sprintf( pcStatusString, ( portCHAR * ) "%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
1941 strcat( ( portCHAR * ) pcWriteBuffer, ( portCHAR * ) pcStatusString );
\r
1943 } while( pxNextTCB != pxFirstTCB );
\r
1947 /*-----------------------------------------------------------*/
\r
1949 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1951 static void prvGenerateRunTimeStatsForTasksInList( const signed portCHAR *pcWriteBuffer, xList *pxList, unsigned portLONG ulTotalRunTime )
\r
1953 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
1954 unsigned portLONG ulStatsAsPercentage;
\r
1956 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
1957 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
1960 /* Get next TCB in from the list. */
\r
1961 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
1963 /* Divide by zero check. */
\r
1964 if( ulTotalRunTime > 0UL )
\r
1966 /* Has the task run at all? */
\r
1967 if( pxNextTCB->ulRunTimeCounter == 0 )
\r
1969 /* The task has used no CPU time at all. */
\r
1970 sprintf( pcStatsString, ( portCHAR * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
1974 /* What percentage of the total run time as the task used?
\r
1975 This will always be rounded down to the nearest integer. */
\r
1976 ulStatsAsPercentage = ( 100UL * pxNextTCB->ulRunTimeCounter ) / ulTotalRunTime;
\r
1978 if( ulStatsAsPercentage > 0UL )
\r
1980 sprintf( pcStatsString, ( portCHAR * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
1984 /* If the percentage is zero here then the task has
\r
1985 consumed less than 1% of the total run time. */
1986 sprintf( pcStatsString, ( portCHAR * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
1990 strcat( ( portCHAR * ) pcWriteBuffer, ( portCHAR * ) pcStatsString );
\r
1993 } while( pxNextTCB != pxFirstTCB );
\r
1997 /*-----------------------------------------------------------*/
\r
1999 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2001 unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte )
\r
2003 register unsigned portSHORT usCount = 0;
\r
2005 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2007 pucStackByte -= portSTACK_GROWTH;
\r
2011 usCount /= sizeof( portSTACK_TYPE );
\r
2017 /*-----------------------------------------------------------*/
\r
2019 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2021 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2024 unsigned portCHAR *pcEndOfStack;
\r
2026 pxTCB = prvGetTCBFromHandle( xTask );
\r
2028 #if portSTACK_GROWTH < 0
\r
2030 pcEndOfStack = ( unsigned portCHAR * ) pxTCB->pxStack;
\r
2034 pcEndOfStack = ( unsigned portCHAR * ) pxTCB->pxEndOfStack;
\r
2038 return usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2042 /*-----------------------------------------------------------*/
\r
2044 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
\r
2046 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2048 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2049 the task to free any memory allocated at the application level. */
\r
2050 vPortFree( pxTCB->pxStack );
\r
2051 vPortFree( pxTCB );
\r
2057 /*-----------------------------------------------------------*/
\r
2059 #if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
\r
2061 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2063 /* A critical section is not required as this is not called from
\r
2064 an interrupt and the current TCB will always be the same for any
\r
2065 individual execution thread. */
\r
2066 return pxCurrentTCB;
\r
2071 /*-----------------------------------------------------------*/
\r
2073 #if ( INCLUDE_xTaskGetSchedulerState == 1 )
\r
2075 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2077 portBASE_TYPE xReturn;
\r
2079 if( xSchedulerRunning == pdFALSE )
\r
2081 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2085 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2087 xReturn = taskSCHEDULER_RUNNING;
\r
2091 xReturn = taskSCHEDULER_SUSPENDED;
\r
2099 /*-----------------------------------------------------------*/
\r
2101 #if ( configUSE_MUTEXES == 1 )
\r
2103 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2105 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2107 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2109 /* Adjust the mutex holder state to account for its new priority. */
\r
2110 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2112 /* If the task being modified is in the ready state it will need to
\r
2113 be moved in to a new list. */
\r
2114 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
2116 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2118 /* Inherit the priority before being moved into the new list. */
\r
2119 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2120 prvAddTaskToReadyQueue( pxTCB );
\r
2124 /* Just inherit the priority. */
\r
2125 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2131 /*-----------------------------------------------------------*/
\r
2133 #if ( configUSE_MUTEXES == 1 )
\r
2135 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2137 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2139 if( pxMutexHolder != NULL )
\r
2141 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2143 /* We must be the running task to be able to give the mutex back.
\r
2144 Remove ourselves from the ready list we currently appear in. */
\r
2145 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2147 /* Disinherit the priority before adding ourselves into the new
\r
2149 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2150 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2151 prvAddTaskToReadyQueue( pxTCB );
\r
2157 /*-----------------------------------------------------------*/
\r
2159 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2161 void vTaskEnterCritical( void )
\r
2163 portDISABLE_INTERRUPTS();
\r
2165 if( xSchedulerRunning != pdFALSE )
\r
2167 pxCurrentTCB->uxCriticalNesting++;
\r
2172 /*-----------------------------------------------------------*/
\r
2174 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2176 void vTaskExitCritical( void )
\r
2178 if( xSchedulerRunning != pdFALSE )
\r
2180 if( pxCurrentTCB->uxCriticalNesting > 0 )
\r
2182 pxCurrentTCB->uxCriticalNesting--;
\r
2184 if( pxCurrentTCB->uxCriticalNesting == 0 )
\r
2186 portENABLE_INTERRUPTS();
\r
2193 /*-----------------------------------------------------------*/
\r
projects / freertos / blob