2 FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd.
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4 ***************************************************************************
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8 * + New to FreeRTOS, *
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13 * then take a look at the FreeRTOS eBook *
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15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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16 * http://www.FreeRTOS.org/Documentation *
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18 * A pdf reference manual is also available. Both are usually delivered *
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19 * to your inbox within 20 minutes to two hours when purchased between 8am *
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20 * and 8pm GMT (although please allow up to 24 hours in case of *
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21 * exceptional circumstances). Thank you for your support! *
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23 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 ***NOTE*** The exception to the GPL is included to allow you to distribute
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31 a combined work that includes FreeRTOS without being obliged to provide the
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32 source code for proprietary components outside of the FreeRTOS kernel.
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33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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35 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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59 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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60 all the API functions to use the MPU wrappers. That should only be done when
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61 task.h is included from an application file. */
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62 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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64 #include "FreeRTOS.h"
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66 #include "StackMacros.h"
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68 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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71 * Macro to define the amount of stack available to the idle task.
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73 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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76 * Task control block. A task control block (TCB) is allocated to each task,
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77 * and stores the context of the task.
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79 typedef struct tskTaskControlBlock
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81 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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83 #if ( portUSING_MPU_WRAPPERS == 1 )
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84 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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87 xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
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88 xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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89 unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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90 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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91 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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93 #if ( portSTACK_GROWTH > 0 )
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94 portSTACK_TYPE *pxEndOfStack; /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
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97 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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98 unsigned portBASE_TYPE uxCriticalNesting;
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101 #if ( configUSE_TRACE_FACILITY == 1 )
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102 unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
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105 #if ( configUSE_MUTEXES == 1 )
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106 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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109 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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110 pdTASK_HOOK_CODE pxTaskTag;
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113 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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114 unsigned long ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
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121 * Some kernel aware debuggers require data to be viewed to be global, rather
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124 #ifdef portREMOVE_STATIC_QUALIFIER
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129 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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131 /* Lists for ready and blocked tasks. --------------------*/
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133 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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134 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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135 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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136 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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137 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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138 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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140 #if ( INCLUDE_vTaskDelete == 1 )
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142 PRIVILEGED_DATA static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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143 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
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147 #if ( INCLUDE_vTaskSuspend == 1 )
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149 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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153 /* File private variables. --------------------------------*/
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154 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
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155 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0;
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156 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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157 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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158 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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159 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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160 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
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161 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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162 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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163 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0;
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165 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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167 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
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168 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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169 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
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173 /* Debugging and trace facilities private variables and macros. ------------*/
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176 * The value used to fill the stack of a task when the task is created. This
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177 * is used purely for checking the high water mark for tasks.
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179 #define tskSTACK_FILL_BYTE ( 0xa5 )
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182 * Macros used by vListTask to indicate which state a task is in.
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184 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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185 #define tskREADY_CHAR ( ( signed char ) 'R' )
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186 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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187 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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190 * Macros and private variables used by the trace facility.
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192 #if ( configUSE_TRACE_FACILITY == 1 )
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194 #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned long ) ( sizeof( unsigned long ) + sizeof( unsigned long ) ) )
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195 PRIVILEGED_DATA static volatile signed char * volatile pcTraceBuffer;
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196 PRIVILEGED_DATA static signed char *pcTraceBufferStart;
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197 PRIVILEGED_DATA static signed char *pcTraceBufferEnd;
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198 PRIVILEGED_DATA static signed portBASE_TYPE xTracing = pdFALSE;
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199 static unsigned portBASE_TYPE uxPreviousTask = 255;
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200 PRIVILEGED_DATA static char pcStatusString[ 50 ];
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204 /*-----------------------------------------------------------*/
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207 * Macro that writes a trace of scheduler activity to a buffer. This trace
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208 * shows which task is running when and is very useful as a debugging tool.
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209 * As this macro is called each context switch it is a good idea to undefine
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210 * it if not using the facility.
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212 #if ( configUSE_TRACE_FACILITY == 1 )
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214 #define vWriteTraceToBuffer() \
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218 if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
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220 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
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222 uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
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223 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) xTickCount; \
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224 pcTraceBuffer += sizeof( unsigned long ); \
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225 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) uxPreviousTask; \
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226 pcTraceBuffer += sizeof( unsigned long ); \
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230 xTracing = pdFALSE; \
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238 #define vWriteTraceToBuffer()
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241 /*-----------------------------------------------------------*/
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244 * Place the task represented by pxTCB into the appropriate ready queue for
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245 * the task. It is inserted at the end of the list. One quirk of this is
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246 * that if the task being inserted is at the same priority as the currently
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247 * executing task, then it will only be rescheduled after the currently
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248 * executing task has been rescheduled.
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250 #define prvAddTaskToReadyQueue( pxTCB ) \
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252 if( pxTCB->uxPriority > uxTopReadyPriority ) \
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254 uxTopReadyPriority = pxTCB->uxPriority; \
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256 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \
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258 /*-----------------------------------------------------------*/
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261 * Macro that looks at the list of tasks that are currently delayed to see if
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262 * any require waking.
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264 * Tasks are stored in the queue in the order of their wake time - meaning
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265 * once one tasks has been found whose timer has not expired we need not look
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266 * any further down the list.
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268 #define prvCheckDelayedTasks() \
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270 register tskTCB *pxTCB; \
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272 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \
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274 if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \
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278 vListRemove( &( pxTCB->xGenericListItem ) ); \
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279 /* Is the task waiting on an event also? */ \
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280 if( pxTCB->xEventListItem.pvContainer ) \
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282 vListRemove( &( pxTCB->xEventListItem ) ); \
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284 prvAddTaskToReadyQueue( pxTCB ); \
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287 /*-----------------------------------------------------------*/
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290 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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291 * where NULL is used to indicate that the handle of the currently executing
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292 * task should be used in place of the parameter. This macro simply checks to
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293 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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295 #define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )
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298 /* File private functions. --------------------------------*/
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301 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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302 * into the TCB structure.
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304 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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307 * Utility to ready all the lists used by the scheduler. This is called
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308 * automatically upon the creation of the first task.
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310 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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313 * The idle task, which as all tasks is implemented as a never ending loop.
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314 * The idle task is automatically created and added to the ready lists upon
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315 * creation of the first user task.
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317 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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318 * language extensions. The equivalent prototype for this function is:
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320 * void prvIdleTask( void *pvParameters );
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323 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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326 * Utility to free all memory allocated by the scheduler to hold a TCB,
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327 * including the stack pointed to by the TCB.
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329 * This does not free memory allocated by the task itself (i.e. memory
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330 * allocated by calls to pvPortMalloc from within the tasks application code).
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332 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
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334 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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339 * Used only by the idle task. This checks to see if anything has been placed
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340 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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341 * and its TCB deleted.
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343 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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346 * Allocates memory from the heap for a TCB and associated stack. Checks the
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347 * allocation was successful.
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349 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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352 * Called from vTaskList. vListTasks details all the tasks currently under
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353 * control of the scheduler. The tasks may be in one of a number of lists.
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354 * prvListTaskWithinSingleList accepts a list and details the tasks from
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355 * within just that list.
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357 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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358 * NORMAL APPLICATION CODE.
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360 #if ( configUSE_TRACE_FACILITY == 1 )
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362 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
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367 * When a task is created, the stack of the task is filled with a known value.
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368 * This function determines the 'high water mark' of the task stack by
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369 * determining how much of the stack remains at the original preset value.
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371 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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373 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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382 /*-----------------------------------------------------------
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383 * TASK CREATION API documented in task.h
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384 *----------------------------------------------------------*/
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386 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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388 signed portBASE_TYPE xReturn;
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391 /* Allocate the memory required by the TCB and stack for the new task,
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392 checking that the allocation was successful. */
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393 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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395 if( pxNewTCB != NULL )
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397 portSTACK_TYPE *pxTopOfStack;
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399 #if( portUSING_MPU_WRAPPERS == 1 )
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400 /* Should the task be created in privileged mode? */
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401 portBASE_TYPE xRunPrivileged;
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402 if( ( uxPriority & portPRIVILEGE_BIT ) != 0x00 )
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404 xRunPrivileged = pdTRUE;
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408 xRunPrivileged = pdFALSE;
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410 uxPriority &= ~portPRIVILEGE_BIT;
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411 #endif /* portUSING_MPU_WRAPPERS == 1 */
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413 /* Calculate the top of stack address. This depends on whether the
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414 stack grows from high memory to low (as per the 80x86) or visa versa.
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415 portSTACK_GROWTH is used to make the result positive or negative as
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416 required by the port. */
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417 #if( portSTACK_GROWTH < 0 )
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419 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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420 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( unsigned long ) pxTopOfStack ) & ( ( unsigned long ) ~portBYTE_ALIGNMENT_MASK ) );
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424 pxTopOfStack = pxNewTCB->pxStack;
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426 /* If we want to use stack checking on architectures that use
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427 a positive stack growth direction then we also need to store the
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428 other extreme of the stack space. */
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429 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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433 /* Setup the newly allocated TCB with the initial state of the task. */
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434 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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436 /* Initialize the TCB stack to look as if the task was already running,
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437 but had been interrupted by the scheduler. The return address is set
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438 to the start of the task function. Once the stack has been initialised
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439 the top of stack variable is updated. */
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440 #if( portUSING_MPU_WRAPPERS == 1 )
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442 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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446 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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450 /* We are going to manipulate the task queues to add this task to a
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451 ready list, so must make sure no interrupts occur. */
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452 portENTER_CRITICAL();
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454 uxCurrentNumberOfTasks++;
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455 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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457 /* As this is the first task it must also be the current task. */
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458 pxCurrentTCB = pxNewTCB;
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460 /* This is the first task to be created so do the preliminary
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461 initialisation required. We will not recover if this call
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462 fails, but we will report the failure. */
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463 prvInitialiseTaskLists();
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467 /* If the scheduler is not already running, make this task the
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468 current task if it is the highest priority task to be created
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470 if( xSchedulerRunning == pdFALSE )
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472 if( pxCurrentTCB->uxPriority <= uxPriority )
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474 pxCurrentTCB = pxNewTCB;
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479 /* Remember the top priority to make context switching faster. Use
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480 the priority in pxNewTCB as this has been capped to a valid value. */
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481 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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483 uxTopUsedPriority = pxNewTCB->uxPriority;
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486 #if ( configUSE_TRACE_FACILITY == 1 )
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488 /* Add a counter into the TCB for tracing only. */
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489 pxNewTCB->uxTCBNumber = uxTaskNumber;
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494 prvAddTaskToReadyQueue( pxNewTCB );
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497 traceTASK_CREATE( pxNewTCB );
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499 portEXIT_CRITICAL();
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503 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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504 traceTASK_CREATE_FAILED( pxNewTCB );
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507 if( xReturn == pdPASS )
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509 if( ( void * ) pxCreatedTask != NULL )
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511 /* Pass the TCB out - in an anonymous way. The calling function/
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512 task can use this as a handle to delete the task later if
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514 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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517 if( xSchedulerRunning != pdFALSE )
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519 /* If the created task is of a higher priority than the current task
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520 then it should run now. */
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521 if( pxCurrentTCB->uxPriority < uxPriority )
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523 portYIELD_WITHIN_API();
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530 /*-----------------------------------------------------------*/
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532 #if ( INCLUDE_vTaskDelete == 1 )
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534 void vTaskDelete( xTaskHandle pxTaskToDelete )
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538 portENTER_CRITICAL();
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540 /* Ensure a yield is performed if the current task is being
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542 if( pxTaskToDelete == pxCurrentTCB )
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544 pxTaskToDelete = NULL;
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547 /* If null is passed in here then we are deleting ourselves. */
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548 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
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550 /* Remove task from the ready list and place in the termination list.
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551 This will stop the task from be scheduled. The idle task will check
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552 the termination list and free up any memory allocated by the
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553 scheduler for the TCB and stack. */
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554 vListRemove( &( pxTCB->xGenericListItem ) );
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556 /* Is the task waiting on an event also? */
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557 if( pxTCB->xEventListItem.pvContainer )
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559 vListRemove( &( pxTCB->xEventListItem ) );
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562 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
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564 /* Increment the ucTasksDeleted variable so the idle task knows
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565 there is a task that has been deleted and that it should therefore
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566 check the xTasksWaitingTermination list. */
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569 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
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570 can detect that the task lists need re-generating. */
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573 traceTASK_DELETE( pxTCB );
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575 portEXIT_CRITICAL();
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577 /* Force a reschedule if we have just deleted the current task. */
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578 if( xSchedulerRunning != pdFALSE )
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580 if( ( void * ) pxTaskToDelete == NULL )
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582 portYIELD_WITHIN_API();
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594 /*-----------------------------------------------------------
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595 * TASK CONTROL API documented in task.h
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596 *----------------------------------------------------------*/
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598 #if ( INCLUDE_vTaskDelayUntil == 1 )
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600 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
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602 portTickType xTimeToWake;
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603 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
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607 /* Generate the tick time at which the task wants to wake. */
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608 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
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610 if( xTickCount < *pxPreviousWakeTime )
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612 /* The tick count has overflowed since this function was
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613 lasted called. In this case the only time we should ever
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614 actually delay is if the wake time has also overflowed,
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615 and the wake time is greater than the tick time. When this
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616 is the case it is as if neither time had overflowed. */
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617 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
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619 xShouldDelay = pdTRUE;
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624 /* The tick time has not overflowed. In this case we will
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625 delay if either the wake time has overflowed, and/or the
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626 tick time is less than the wake time. */
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627 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
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629 xShouldDelay = pdTRUE;
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633 /* Update the wake time ready for the next call. */
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634 *pxPreviousWakeTime = xTimeToWake;
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638 traceTASK_DELAY_UNTIL();
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640 /* We must remove ourselves from the ready list before adding
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641 ourselves to the blocked list as the same list item is used for
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643 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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645 /* The list item will be inserted in wake time order. */
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646 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
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648 if( xTimeToWake < xTickCount )
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650 /* Wake time has overflowed. Place this item in the
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652 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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656 /* The wake time has not overflowed, so we can use the
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657 current block list. */
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658 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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662 xAlreadyYielded = xTaskResumeAll();
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664 /* Force a reschedule if xTaskResumeAll has not already done so, we may
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665 have put ourselves to sleep. */
\r
666 if( !xAlreadyYielded )
\r
668 portYIELD_WITHIN_API();
\r
673 /*-----------------------------------------------------------*/
\r
675 #if ( INCLUDE_vTaskDelay == 1 )
\r
677 void vTaskDelay( portTickType xTicksToDelay )
\r
679 portTickType xTimeToWake;
\r
680 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
682 /* A delay time of zero just forces a reschedule. */
\r
683 if( xTicksToDelay > ( portTickType ) 0 )
\r
689 /* A task that is removed from the event list while the
\r
690 scheduler is suspended will not get placed in the ready
\r
691 list or removed from the blocked list until the scheduler
\r
694 This task cannot be in an event list as it is the currently
\r
697 /* Calculate the time to wake - this may overflow but this is
\r
699 xTimeToWake = xTickCount + xTicksToDelay;
\r
701 /* We must remove ourselves from the ready list before adding
\r
702 ourselves to the blocked list as the same list item is used for
\r
704 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
706 /* The list item will be inserted in wake time order. */
\r
707 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
709 if( xTimeToWake < xTickCount )
\r
711 /* Wake time has overflowed. Place this item in the
\r
713 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
717 /* The wake time has not overflowed, so we can use the
\r
718 current block list. */
\r
719 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
722 xAlreadyYielded = xTaskResumeAll();
\r
725 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
726 have put ourselves to sleep. */
\r
727 if( !xAlreadyYielded )
\r
729 portYIELD_WITHIN_API();
\r
734 /*-----------------------------------------------------------*/
\r
736 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
738 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
741 unsigned portBASE_TYPE uxReturn;
\r
743 portENTER_CRITICAL();
\r
745 /* If null is passed in here then we are changing the
\r
746 priority of the calling function. */
\r
747 pxTCB = prvGetTCBFromHandle( pxTask );
\r
748 uxReturn = pxTCB->uxPriority;
\r
750 portEXIT_CRITICAL();
\r
756 /*-----------------------------------------------------------*/
\r
758 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
760 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
763 unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
\r
765 /* Ensure the new priority is valid. */
\r
766 if( uxNewPriority >= configMAX_PRIORITIES )
\r
768 uxNewPriority = configMAX_PRIORITIES - 1;
\r
771 portENTER_CRITICAL();
\r
773 if( pxTask == pxCurrentTCB )
\r
778 /* If null is passed in here then we are changing the
\r
779 priority of the calling function. */
\r
780 pxTCB = prvGetTCBFromHandle( pxTask );
\r
782 traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
\r
784 #if ( configUSE_MUTEXES == 1 )
\r
786 uxCurrentPriority = pxTCB->uxBasePriority;
\r
790 uxCurrentPriority = pxTCB->uxPriority;
\r
794 if( uxCurrentPriority != uxNewPriority )
\r
796 /* The priority change may have readied a task of higher
\r
797 priority than the calling task. */
\r
798 if( uxNewPriority > uxCurrentPriority )
\r
800 if( pxTask != NULL )
\r
802 /* The priority of another task is being raised. If we
\r
803 were raising the priority of the currently running task
\r
804 there would be no need to switch as it must have already
\r
805 been the highest priority task. */
\r
806 xYieldRequired = pdTRUE;
\r
809 else if( pxTask == NULL )
\r
811 /* Setting our own priority down means there may now be another
\r
812 task of higher priority that is ready to execute. */
\r
813 xYieldRequired = pdTRUE;
\r
818 #if ( configUSE_MUTEXES == 1 )
\r
820 /* Only change the priority being used if the task is not
\r
821 currently using an inherited priority. */
\r
822 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
824 pxTCB->uxPriority = uxNewPriority;
\r
827 /* The base priority gets set whatever. */
\r
828 pxTCB->uxBasePriority = uxNewPriority;
\r
832 pxTCB->uxPriority = uxNewPriority;
\r
836 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
838 /* If the task is in the blocked or suspended list we need do
\r
839 nothing more than change it's priority variable. However, if
\r
840 the task is in a ready list it needs to be removed and placed
\r
841 in the queue appropriate to its new priority. */
\r
842 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
844 /* The task is currently in its ready list - remove before adding
\r
845 it to it's new ready list. As we are in a critical section we
\r
846 can do this even if the scheduler is suspended. */
\r
847 vListRemove( &( pxTCB->xGenericListItem ) );
\r
848 prvAddTaskToReadyQueue( pxTCB );
\r
851 if( xYieldRequired == pdTRUE )
\r
853 portYIELD_WITHIN_API();
\r
857 portEXIT_CRITICAL();
\r
861 /*-----------------------------------------------------------*/
\r
863 #if ( INCLUDE_vTaskSuspend == 1 )
\r
865 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
869 portENTER_CRITICAL();
\r
871 /* Ensure a yield is performed if the current task is being
\r
873 if( pxTaskToSuspend == pxCurrentTCB )
\r
875 pxTaskToSuspend = NULL;
\r
878 /* If null is passed in here then we are suspending ourselves. */
\r
879 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
881 traceTASK_SUSPEND( pxTCB );
\r
883 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
884 vListRemove( &( pxTCB->xGenericListItem ) );
\r
886 /* Is the task waiting on an event also? */
\r
887 if( pxTCB->xEventListItem.pvContainer )
\r
889 vListRemove( &( pxTCB->xEventListItem ) );
\r
892 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
894 portEXIT_CRITICAL();
\r
896 /* We may have just suspended the current task. */
\r
897 if( ( void * ) pxTaskToSuspend == NULL )
\r
899 portYIELD_WITHIN_API();
\r
904 /*-----------------------------------------------------------*/
\r
906 #if ( INCLUDE_vTaskSuspend == 1 )
\r
908 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
910 portBASE_TYPE xReturn = pdFALSE;
\r
911 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
913 /* Is the task we are attempting to resume actually in the
\r
915 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
917 /* Has the task already been resumed from within an ISR? */
\r
918 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
920 /* Is it in the suspended list because it is in the
\r
921 Suspended state? It is possible to be in the suspended
\r
922 list because it is blocked on a task with no timeout
\r
924 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
935 /*-----------------------------------------------------------*/
\r
937 #if ( INCLUDE_vTaskSuspend == 1 )
\r
939 void vTaskResume( xTaskHandle pxTaskToResume )
\r
943 /* Remove the task from whichever list it is currently in, and place
\r
944 it in the ready list. */
\r
945 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
947 /* The parameter cannot be NULL as it is impossible to resume the
\r
948 currently executing task. */
\r
949 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
951 portENTER_CRITICAL();
\r
953 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
955 traceTASK_RESUME( pxTCB );
\r
957 /* As we are in a critical section we can access the ready
\r
958 lists even if the scheduler is suspended. */
\r
959 vListRemove( &( pxTCB->xGenericListItem ) );
\r
960 prvAddTaskToReadyQueue( pxTCB );
\r
962 /* We may have just resumed a higher priority task. */
\r
963 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
965 /* This yield may not cause the task just resumed to run, but
\r
966 will leave the lists in the correct state for the next yield. */
\r
967 portYIELD_WITHIN_API();
\r
971 portEXIT_CRITICAL();
\r
977 /*-----------------------------------------------------------*/
\r
979 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
981 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
983 portBASE_TYPE xYieldRequired = pdFALSE;
\r
986 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
988 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
990 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
992 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
994 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
995 vListRemove( &( pxTCB->xGenericListItem ) );
\r
996 prvAddTaskToReadyQueue( pxTCB );
\r
1000 /* We cannot access the delayed or ready lists, so will hold this
\r
1001 task pending until the scheduler is resumed, at which point a
\r
1002 yield will be performed if necessary. */
\r
1003 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1007 return xYieldRequired;
\r
1015 /*-----------------------------------------------------------
\r
1016 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1017 *----------------------------------------------------------*/
\r
1020 void vTaskStartScheduler( void )
\r
1022 portBASE_TYPE xReturn;
\r
1024 /* Add the idle task at the lowest priority. */
\r
1025 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), ( xTaskHandle * ) NULL );
\r
1027 if( xReturn == pdPASS )
\r
1029 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1030 before or during the call to xPortStartScheduler(). The stacks of
\r
1031 the created tasks contain a status word with interrupts switched on
\r
1032 so interrupts will automatically get re-enabled when the first task
\r
1035 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1036 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1037 portDISABLE_INTERRUPTS();
\r
1039 xSchedulerRunning = pdTRUE;
\r
1040 xTickCount = ( portTickType ) 0;
\r
1042 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1043 macro must be defined to configure the timer/counter used to generate
\r
1044 the run time counter time base. */
\r
1045 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1047 /* Setting up the timer tick is hardware specific and thus in the
\r
1048 portable interface. */
\r
1049 if( xPortStartScheduler() )
\r
1051 /* Should not reach here as if the scheduler is running the
\r
1052 function will not return. */
\r
1056 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1060 /*-----------------------------------------------------------*/
\r
1062 void vTaskEndScheduler( void )
\r
1064 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1065 routine so the original ISRs can be restored if necessary. The port
\r
1066 layer must ensure interrupts enable bit is left in the correct state. */
\r
1067 portDISABLE_INTERRUPTS();
\r
1068 xSchedulerRunning = pdFALSE;
\r
1069 vPortEndScheduler();
\r
1071 /*----------------------------------------------------------*/
\r
1073 void vTaskSuspendAll( void )
\r
1075 /* A critical section is not required as the variable is of type
\r
1077 ++uxSchedulerSuspended;
\r
1079 /*----------------------------------------------------------*/
\r
1081 signed portBASE_TYPE xTaskResumeAll( void )
\r
1083 register tskTCB *pxTCB;
\r
1084 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1086 /* It is possible that an ISR caused a task to be removed from an event
\r
1087 list while the scheduler was suspended. If this was the case then the
\r
1088 removed task will have been added to the xPendingReadyList. Once the
\r
1089 scheduler has been resumed it is safe to move all the pending ready
\r
1090 tasks from this list into their appropriate ready list. */
\r
1091 portENTER_CRITICAL();
\r
1093 --uxSchedulerSuspended;
\r
1095 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1097 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
\r
1099 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1101 /* Move any readied tasks from the pending list into the
\r
1102 appropriate ready list. */
\r
1103 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL )
\r
1105 vListRemove( &( pxTCB->xEventListItem ) );
\r
1106 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1107 prvAddTaskToReadyQueue( pxTCB );
\r
1109 /* If we have moved a task that has a priority higher than
\r
1110 the current task then we should yield. */
\r
1111 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1113 xYieldRequired = pdTRUE;
\r
1117 /* If any ticks occurred while the scheduler was suspended then
\r
1118 they should be processed now. This ensures the tick count does not
\r
1119 slip, and that any delayed tasks are resumed at the correct time. */
\r
1120 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1122 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1124 vTaskIncrementTick();
\r
1128 /* As we have processed some ticks it is appropriate to yield
\r
1129 to ensure the highest priority task that is ready to run is
\r
1130 the task actually running. */
\r
1131 #if configUSE_PREEMPTION == 1
\r
1133 xYieldRequired = pdTRUE;
\r
1138 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1140 xAlreadyYielded = pdTRUE;
\r
1141 xMissedYield = pdFALSE;
\r
1142 portYIELD_WITHIN_API();
\r
1147 portEXIT_CRITICAL();
\r
1149 return xAlreadyYielded;
\r
1157 /*-----------------------------------------------------------
\r
1158 * PUBLIC TASK UTILITIES documented in task.h
\r
1159 *----------------------------------------------------------*/
\r
1163 portTickType xTaskGetTickCount( void )
\r
1165 portTickType xTicks;
\r
1167 /* Critical section required if running on a 16 bit processor. */
\r
1168 portENTER_CRITICAL();
\r
1170 xTicks = xTickCount;
\r
1172 portEXIT_CRITICAL();
\r
1176 /*-----------------------------------------------------------*/
\r
1178 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1180 /* A critical section is not required because the variables are of type
\r
1182 return uxCurrentNumberOfTasks;
\r
1184 /*-----------------------------------------------------------*/
\r
1186 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1188 void vTaskList( signed char *pcWriteBuffer )
\r
1190 unsigned portBASE_TYPE uxQueue;
\r
1192 /* This is a VERY costly function that should be used for debug only.
\r
1193 It leaves interrupts disabled for a LONG time. */
\r
1195 vTaskSuspendAll();
\r
1197 /* Run through all the lists that could potentially contain a TCB and
\r
1198 report the task name, state and stack high water mark. */
\r
1200 pcWriteBuffer[ 0 ] = ( signed char ) 0x00;
\r
1201 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1203 uxQueue = uxTopUsedPriority + 1;
\r
1209 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1211 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1213 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1215 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1217 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1220 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1222 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1225 #if( INCLUDE_vTaskDelete == 1 )
\r
1227 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1229 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1234 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1236 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1238 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1247 /*----------------------------------------------------------*/
\r
1249 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1251 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1253 unsigned portBASE_TYPE uxQueue;
\r
1254 unsigned long ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1256 /* This is a VERY costly function that should be used for debug only.
\r
1257 It leaves interrupts disabled for a LONG time. */
\r
1259 vTaskSuspendAll();
\r
1261 /* Run through all the lists that could potentially contain a TCB,
\r
1262 generating a table of run timer percentages in the provided
\r
1265 pcWriteBuffer[ 0 ] = ( signed char ) 0x00;
\r
1266 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1268 uxQueue = uxTopUsedPriority + 1;
\r
1274 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1276 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
\r
1278 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1280 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1282 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
\r
1285 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1287 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
\r
1290 #if ( INCLUDE_vTaskDelete == 1 )
\r
1292 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1294 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, ulTotalRunTime );
\r
1299 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1301 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1303 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, ulTotalRunTime );
\r
1312 /*----------------------------------------------------------*/
\r
1314 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1316 void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize )
\r
1318 portENTER_CRITICAL();
\r
1320 pcTraceBuffer = ( signed char * )pcBuffer;
\r
1321 pcTraceBufferStart = pcBuffer;
\r
1322 pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
\r
1323 xTracing = pdTRUE;
\r
1325 portEXIT_CRITICAL();
\r
1329 /*----------------------------------------------------------*/
\r
1331 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1333 unsigned long ulTaskEndTrace( void )
\r
1335 unsigned long ulBufferLength;
\r
1337 portENTER_CRITICAL();
\r
1338 xTracing = pdFALSE;
\r
1339 portEXIT_CRITICAL();
\r
1341 ulBufferLength = ( unsigned long ) ( pcTraceBuffer - pcTraceBufferStart );
\r
1343 return ulBufferLength;
\r
1350 /*-----------------------------------------------------------
\r
1351 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1352 * documented in task.h
\r
1353 *----------------------------------------------------------*/
\r
1356 void vTaskIncrementTick( void )
\r
1358 /* Called by the portable layer each time a tick interrupt occurs.
\r
1359 Increments the tick then checks to see if the new tick value will cause any
\r
1360 tasks to be unblocked. */
\r
1361 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1364 if( xTickCount == ( portTickType ) 0 )
\r
1368 /* Tick count has overflowed so we need to swap the delay lists.
\r
1369 If there are any items in pxDelayedTaskList here then there is
\r
1371 pxTemp = pxDelayedTaskList;
\r
1372 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1373 pxOverflowDelayedTaskList = pxTemp;
\r
1374 xNumOfOverflows++;
\r
1377 /* See if this tick has made a timeout expire. */
\r
1378 prvCheckDelayedTasks();
\r
1384 /* The tick hook gets called at regular intervals, even if the
\r
1385 scheduler is locked. */
\r
1386 #if ( configUSE_TICK_HOOK == 1 )
\r
1388 extern void vApplicationTickHook( void );
\r
1390 vApplicationTickHook();
\r
1395 #if ( configUSE_TICK_HOOK == 1 )
\r
1397 extern void vApplicationTickHook( void );
\r
1399 /* Guard against the tick hook being called when the missed tick
\r
1400 count is being unwound (when the scheduler is being unlocked. */
\r
1401 if( uxMissedTicks == 0 )
\r
1403 vApplicationTickHook();
\r
1408 traceTASK_INCREMENT_TICK( xTickCount );
\r
1410 /*-----------------------------------------------------------*/
\r
1412 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1414 void vTaskCleanUpResources( void )
\r
1416 unsigned short usQueue;
\r
1417 volatile tskTCB *pxTCB;
\r
1419 usQueue = ( unsigned short ) uxTopUsedPriority + ( unsigned short ) 1;
\r
1421 /* Remove any TCB's from the ready queues. */
\r
1426 while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
\r
1428 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
\r
1429 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1431 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1433 }while( usQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1435 /* Remove any TCB's from the delayed queue. */
\r
1436 while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
\r
1438 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
\r
1439 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1441 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1444 /* Remove any TCB's from the overflow delayed queue. */
\r
1445 while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
\r
1447 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
\r
1448 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1450 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1453 while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1455 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
\r
1456 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1458 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1463 /*-----------------------------------------------------------*/
\r
1465 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1467 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue )
\r
1471 /* If xTask is NULL then we are setting our own task hook. */
\r
1472 if( xTask == NULL )
\r
1474 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1478 xTCB = ( tskTCB * ) xTask;
\r
1481 /* Save the hook function in the TCB. A critical section is required as
\r
1482 the value can be accessed from an interrupt. */
\r
1483 portENTER_CRITICAL();
\r
1484 xTCB->pxTaskTag = pxTagValue;
\r
1485 portEXIT_CRITICAL();
\r
1489 /*-----------------------------------------------------------*/
\r
1491 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1493 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1496 pdTASK_HOOK_CODE xReturn;
\r
1498 /* If xTask is NULL then we are setting our own task hook. */
\r
1499 if( xTask == NULL )
\r
1501 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1505 xTCB = ( tskTCB * ) xTask;
\r
1508 /* Save the hook function in the TCB. A critical section is required as
\r
1509 the value can be accessed from an interrupt. */
\r
1510 portENTER_CRITICAL();
\r
1511 xReturn = xTCB->pxTaskTag;
\r
1512 portEXIT_CRITICAL();
\r
1518 /*-----------------------------------------------------------*/
\r
1520 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1522 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1525 portBASE_TYPE xReturn;
\r
1527 /* If xTask is NULL then we are calling our own task hook. */
\r
1528 if( xTask == NULL )
\r
1530 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1534 xTCB = ( tskTCB * ) xTask;
\r
1537 if( xTCB->pxTaskTag != NULL )
\r
1539 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1550 /*-----------------------------------------------------------*/
\r
1552 void vTaskSwitchContext( void )
\r
1554 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1556 /* The scheduler is currently suspended - do not allow a context
\r
1558 xMissedYield = pdTRUE;
\r
1562 traceTASK_SWITCHED_OUT();
\r
1564 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1566 unsigned long ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
\r
1568 /* Add the amount of time the task has been running to the accumulated
\r
1569 time so far. The time the task started running was stored in
\r
1570 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1571 so count values are only valid until the timer overflows. Generally
\r
1572 this will be about 1 hour assuming a 1uS timer increment. */
\r
1573 pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
\r
1574 ulTaskSwitchedInTime = ulTempCounter;
\r
1578 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1579 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1581 /* Find the highest priority queue that contains ready tasks. */
\r
1582 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1584 --uxTopReadyPriority;
\r
1587 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1588 same priority get an equal share of the processor time. */
\r
1589 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1591 traceTASK_SWITCHED_IN();
\r
1592 vWriteTraceToBuffer();
\r
1594 /*-----------------------------------------------------------*/
\r
1596 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1598 portTickType xTimeToWake;
\r
1600 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1601 SCHEDULER SUSPENDED. */
\r
1603 /* Place the event list item of the TCB in the appropriate event list.
\r
1604 This is placed in the list in priority order so the highest priority task
\r
1605 is the first to be woken by the event. */
\r
1606 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1608 /* We must remove ourselves from the ready list before adding ourselves
\r
1609 to the blocked list as the same list item is used for both lists. We have
\r
1610 exclusive access to the ready lists as the scheduler is locked. */
\r
1611 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1614 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1616 if( xTicksToWait == portMAX_DELAY )
\r
1618 /* Add ourselves to the suspended task list instead of a delayed task
\r
1619 list to ensure we are not woken by a timing event. We will block
\r
1621 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1625 /* Calculate the time at which the task should be woken if the event does
\r
1626 not occur. This may overflow but this doesn't matter. */
\r
1627 xTimeToWake = xTickCount + xTicksToWait;
\r
1629 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1631 if( xTimeToWake < xTickCount )
\r
1633 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1634 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1638 /* The wake time has not overflowed, so we can use the current block list. */
\r
1639 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1645 /* Calculate the time at which the task should be woken if the event does
\r
1646 not occur. This may overflow but this doesn't matter. */
\r
1647 xTimeToWake = xTickCount + xTicksToWait;
\r
1649 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1651 if( xTimeToWake < xTickCount )
\r
1653 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1654 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1658 /* The wake time has not overflowed, so we can use the current block list. */
\r
1659 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1664 /*-----------------------------------------------------------*/
\r
1666 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1668 tskTCB *pxUnblockedTCB;
\r
1669 portBASE_TYPE xReturn;
\r
1671 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1672 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1674 /* The event list is sorted in priority order, so we can remove the
\r
1675 first in the list, remove the TCB from the delayed list, and add
\r
1676 it to the ready list.
\r
1678 If an event is for a queue that is locked then this function will never
\r
1679 get called - the lock count on the queue will get modified instead. This
\r
1680 means we can always expect exclusive access to the event list here. */
\r
1681 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1682 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1684 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1686 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1687 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1691 /* We cannot access the delayed or ready lists, so will hold this
\r
1692 task pending until the scheduler is resumed. */
\r
1693 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1696 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1698 /* Return true if the task removed from the event list has
\r
1699 a higher priority than the calling task. This allows
\r
1700 the calling task to know if it should force a context
\r
1706 xReturn = pdFALSE;
\r
1711 /*-----------------------------------------------------------*/
\r
1713 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1715 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1716 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1718 /*-----------------------------------------------------------*/
\r
1720 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1722 portBASE_TYPE xReturn;
\r
1724 portENTER_CRITICAL();
\r
1726 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1727 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1728 the maximum block time then the task should block indefinitely, and
\r
1729 therefore never time out. */
\r
1730 if( *pxTicksToWait == portMAX_DELAY )
\r
1732 xReturn = pdFALSE;
\r
1734 else /* We are not blocking indefinitely, perform the checks below. */
\r
1737 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
1739 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1740 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1741 It must have wrapped all the way around and gone past us again. This
\r
1742 passed since vTaskSetTimeout() was called. */
\r
1745 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
1747 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1748 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
1749 vTaskSetTimeOutState( pxTimeOut );
\r
1750 xReturn = pdFALSE;
\r
1757 portEXIT_CRITICAL();
\r
1761 /*-----------------------------------------------------------*/
\r
1763 void vTaskMissedYield( void )
\r
1765 xMissedYield = pdTRUE;
\r
1769 * -----------------------------------------------------------
\r
1771 * ----------------------------------------------------------
\r
1773 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1774 * language extensions. The equivalent prototype for this function is:
\r
1776 * void prvIdleTask( void *pvParameters );
\r
1779 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1781 /* Stop warnings. */
\r
1782 ( void ) pvParameters;
\r
1786 /* See if any tasks have been deleted. */
\r
1787 prvCheckTasksWaitingTermination();
\r
1789 #if ( configUSE_PREEMPTION == 0 )
\r
1791 /* If we are not using preemption we keep forcing a task switch to
\r
1792 see if any other task has become available. If we are using
\r
1793 preemption we don't need to do this as any task becoming available
\r
1794 will automatically get the processor anyway. */
\r
1799 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1801 /* When using preemption tasks of equal priority will be
\r
1802 timesliced. If a task that is sharing the idle priority is ready
\r
1803 to run then the idle task should yield before the end of the
\r
1806 A critical region is not required here as we are just reading from
\r
1807 the list, and an occasional incorrect value will not matter. If
\r
1808 the ready list at the idle priority contains more than one task
\r
1809 then a task other than the idle task is ready to execute. */
\r
1810 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1817 #if ( configUSE_IDLE_HOOK == 1 )
\r
1819 extern void vApplicationIdleHook( void );
\r
1821 /* Call the user defined function from within the idle task. This
\r
1822 allows the application designer to add background functionality
\r
1823 without the overhead of a separate task.
\r
1824 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1825 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1826 vApplicationIdleHook();
\r
1830 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1838 /*-----------------------------------------------------------
\r
1839 * File private functions documented at the top of the file.
\r
1840 *----------------------------------------------------------*/
\r
1844 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
1846 /* Store the function name in the TCB. */
\r
1847 #if configMAX_TASK_NAME_LEN > 1
\r
1849 /* Don't bring strncpy into the build unnecessarily. */
\r
1850 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
1853 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = '\0';
\r
1855 /* This is used as an array index so must ensure it's not too large. First
\r
1856 remove the privilege bit if one is present. */
\r
1857 if( uxPriority >= configMAX_PRIORITIES )
\r
1859 uxPriority = configMAX_PRIORITIES - 1;
\r
1862 pxTCB->uxPriority = uxPriority;
\r
1863 #if ( configUSE_MUTEXES == 1 )
\r
1865 pxTCB->uxBasePriority = uxPriority;
\r
1869 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
1870 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
1872 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
1873 back to the containing TCB from a generic item in a list. */
\r
1874 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
1876 /* Event lists are always in priority order. */
\r
1877 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
1878 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
1880 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
1882 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
\r
1886 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1888 pxTCB->pxTaskTag = NULL;
\r
1892 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1894 pxTCB->ulRunTimeCounter = 0UL;
\r
1898 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
1900 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
1904 ( void ) xRegions;
\r
1905 ( void ) usStackDepth;
\r
1909 /*-----------------------------------------------------------*/
\r
1911 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
1913 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
1917 if( xTaskToModify == pxCurrentTCB )
\r
1919 xTaskToModify = NULL;
\r
1922 /* If null is passed in here then we are deleting ourselves. */
\r
1923 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
1925 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
1927 /*-----------------------------------------------------------*/
\r
1930 static void prvInitialiseTaskLists( void )
\r
1932 unsigned portBASE_TYPE uxPriority;
\r
1934 for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
1936 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
1939 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
1940 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
1941 vListInitialise( ( xList * ) &xPendingReadyList );
\r
1943 #if ( INCLUDE_vTaskDelete == 1 )
\r
1945 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
1949 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1951 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
1955 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
1957 pxDelayedTaskList = &xDelayedTaskList1;
\r
1958 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
1960 /*-----------------------------------------------------------*/
\r
1962 static void prvCheckTasksWaitingTermination( void )
\r
1964 #if ( INCLUDE_vTaskDelete == 1 )
\r
1966 portBASE_TYPE xListIsEmpty;
\r
1968 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
1969 too often in the idle task. */
\r
1970 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
\r
1972 vTaskSuspendAll();
\r
1973 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
1976 if( !xListIsEmpty )
\r
1980 portENTER_CRITICAL();
\r
1982 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
1983 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1984 --uxCurrentNumberOfTasks;
\r
1987 portEXIT_CRITICAL();
\r
1989 prvDeleteTCB( pxTCB );
\r
1995 /*-----------------------------------------------------------*/
\r
1997 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2001 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2002 the implementation of the port malloc function. */
\r
2003 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2005 if( pxNewTCB != NULL )
\r
2007 /* Allocate space for the stack used by the task being created.
\r
2008 The base of the stack memory stored in the TCB so the task can
\r
2009 be deleted later if required. */
\r
2010 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2012 if( pxNewTCB->pxStack == NULL )
\r
2014 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2015 vPortFree( pxNewTCB );
\r
2020 /* Just to help debugging. */
\r
2021 memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2027 /*-----------------------------------------------------------*/
\r
2029 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2031 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2033 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2034 unsigned short usStackRemaining;
\r
2036 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2037 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2040 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2041 #if ( portSTACK_GROWTH > 0 )
\r
2043 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2047 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2051 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
2052 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2054 } while( pxNextTCB != pxFirstTCB );
\r
2058 /*-----------------------------------------------------------*/
\r
2060 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2062 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
\r
2064 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2065 unsigned long ulStatsAsPercentage;
\r
2067 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2068 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2071 /* Get next TCB in from the list. */
\r
2072 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2074 /* Divide by zero check. */
\r
2075 if( ulTotalRunTime > 0UL )
\r
2077 /* Has the task run at all? */
\r
2078 if( pxNextTCB->ulRunTimeCounter == 0 )
\r
2080 /* The task has used no CPU time at all. */
\r
2081 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2085 /* What percentage of the total run time as the task used?
\r
2086 This will always be rounded down to the nearest integer. */
\r
2087 ulStatsAsPercentage = ( 100UL * pxNextTCB->ulRunTimeCounter ) / ulTotalRunTime;
\r
2089 if( ulStatsAsPercentage > 0UL )
\r
2091 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2095 /* If the percentage is zero here then the task has
\r
2096 consumed less than 1% of the total run time. */
\r
2097 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2101 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2104 } while( pxNextTCB != pxFirstTCB );
\r
2108 /*-----------------------------------------------------------*/
\r
2110 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2112 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2114 register unsigned short usCount = 0;
\r
2116 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2118 pucStackByte -= portSTACK_GROWTH;
\r
2122 usCount /= sizeof( portSTACK_TYPE );
\r
2128 /*-----------------------------------------------------------*/
\r
2130 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2132 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2135 unsigned char *pcEndOfStack;
\r
2136 unsigned portBASE_TYPE uxReturn;
\r
2138 pxTCB = prvGetTCBFromHandle( xTask );
\r
2140 #if portSTACK_GROWTH < 0
\r
2142 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2146 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2150 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2156 /*-----------------------------------------------------------*/
\r
2158 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
\r
2160 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2162 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2163 the task to free any memory allocated at the application level. */
\r
2164 vPortFreeAligned( pxTCB->pxStack );
\r
2165 vPortFree( pxTCB );
\r
2171 /*-----------------------------------------------------------*/
\r
2173 #if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
\r
2175 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2177 xTaskHandle xReturn;
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2179 /* A critical section is not required as this is not called from
\r
2180 an interrupt and the current TCB will always be the same for any
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2181 individual execution thread. */
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2182 xReturn = pxCurrentTCB;
\r
2189 /*-----------------------------------------------------------*/
\r
2191 #if ( INCLUDE_xTaskGetSchedulerState == 1 )
\r
2193 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2195 portBASE_TYPE xReturn;
\r
2197 if( xSchedulerRunning == pdFALSE )
\r
2199 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2203 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2205 xReturn = taskSCHEDULER_RUNNING;
\r
2209 xReturn = taskSCHEDULER_SUSPENDED;
\r
2217 /*-----------------------------------------------------------*/
\r
2219 #if ( configUSE_MUTEXES == 1 )
\r
2221 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2223 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2225 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2227 /* Adjust the mutex holder state to account for its new priority. */
\r
2228 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2230 /* If the task being modified is in the ready state it will need to
\r
2231 be moved in to a new list. */
\r
2232 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
2234 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2236 /* Inherit the priority before being moved into the new list. */
\r
2237 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2238 prvAddTaskToReadyQueue( pxTCB );
\r
2242 /* Just inherit the priority. */
\r
2243 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2249 /*-----------------------------------------------------------*/
\r
2251 #if ( configUSE_MUTEXES == 1 )
\r
2253 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2255 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2257 if( pxMutexHolder != NULL )
\r
2259 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2261 /* We must be the running task to be able to give the mutex back.
\r
2262 Remove ourselves from the ready list we currently appear in. */
\r
2263 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2265 /* Disinherit the priority before adding ourselves into the new
\r
2267 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2268 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2269 prvAddTaskToReadyQueue( pxTCB );
\r
2275 /*-----------------------------------------------------------*/
\r
2277 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2279 void vTaskEnterCritical( void )
\r
2281 portDISABLE_INTERRUPTS();
\r
2283 if( xSchedulerRunning != pdFALSE )
\r
2285 pxCurrentTCB->uxCriticalNesting++;
\r
2290 /*-----------------------------------------------------------*/
\r
2292 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2294 void vTaskExitCritical( void )
\r
2296 if( xSchedulerRunning != pdFALSE )
\r
2298 if( pxCurrentTCB->uxCriticalNesting > 0 )
\r
2300 pxCurrentTCB->uxCriticalNesting--;
\r
2302 if( pxCurrentTCB->uxCriticalNesting == 0 )
\r
2304 portENABLE_INTERRUPTS();
\r
2311 /*-----------------------------------------------------------*/
\r
projects / freertos / blob