2 FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
\r
4 ***************************************************************************
\r
8 * + New to FreeRTOS, *
\r
9 * + Wanting to learn FreeRTOS or multitasking in general quickly *
\r
10 * + Looking for basic training, *
\r
11 * + Wanting to improve your FreeRTOS skills and productivity *
\r
13 * then take a look at the FreeRTOS books - available as PDF or paperback *
\r
15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
\r
16 * http://www.FreeRTOS.org/Documentation *
\r
18 * A pdf reference manual is also available. Both are usually delivered *
\r
19 * to your inbox within 20 minutes to two hours when purchased between 8am *
\r
20 * and 8pm GMT (although please allow up to 24 hours in case of *
\r
21 * exceptional circumstances). Thank you for your support! *
\r
23 ***************************************************************************
\r
25 This file is part of the FreeRTOS distribution.
\r
27 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
28 the terms of the GNU General Public License (version 2) as published by the
\r
29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
\r
30 ***NOTE*** The exception to the GPL is included to allow you to distribute
\r
31 a combined work that includes FreeRTOS without being obliged to provide the
\r
32 source code for proprietary components outside of the FreeRTOS kernel.
\r
33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
\r
34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
\r
35 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
\r
36 more details. You should have received a copy of the GNU General Public
\r
37 License and the FreeRTOS license exception along with FreeRTOS; if not it
\r
38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
\r
39 by writing to Richard Barry, contact details for whom are available on the
\r
44 http://www.FreeRTOS.org - Documentation, latest information, license and
\r
47 http://www.SafeRTOS.com - A version that is certified for use in safety
\r
50 http://www.OpenRTOS.com - Commercial support, development, porting,
\r
51 licensing and training services.
\r
59 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
\r
60 all the API functions to use the MPU wrappers. That should only be done when
\r
61 task.h is included from an application file. */
\r
62 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
\r
64 #include "FreeRTOS.h"
\r
66 #include "StackMacros.h"
\r
68 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
\r
71 * Macro to define the amount of stack available to the idle task.
\r
73 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
\r
76 * Task control block. A task control block (TCB) is allocated to each task,
\r
77 * and stores the context of the task.
\r
79 typedef struct tskTaskControlBlock
\r
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. */
\r
83 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
84 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE STRUCT. */
\r
87 xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
\r
88 xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
\r
89 unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
\r
90 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
\r
91 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
\r
93 #if ( portSTACK_GROWTH > 0 )
\r
94 portSTACK_TYPE *pxEndOfStack; /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
\r
97 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
98 unsigned portBASE_TYPE uxCriticalNesting;
\r
101 #if ( configUSE_TRACE_FACILITY == 1 )
\r
102 unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
\r
105 #if ( configUSE_MUTEXES == 1 )
\r
106 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
\r
109 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
110 pdTASK_HOOK_CODE pxTaskTag;
\r
113 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
114 unsigned long ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
\r
121 * Some kernel aware debuggers require data to be viewed to be global, rather
\r
124 #ifdef portREMOVE_STATIC_QUALIFIER
\r
129 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
\r
131 /* Lists for ready and blocked tasks. --------------------*/
\r
133 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
\r
134 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
\r
135 PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
\r
136 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
\r
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. */
\r
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. */
\r
140 #if ( INCLUDE_vTaskDelete == 1 )
\r
142 PRIVILEGED_DATA static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
\r
143 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
\r
147 #if ( INCLUDE_vTaskSuspend == 1 )
\r
149 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
\r
153 /* File private variables. --------------------------------*/
\r
154 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
\r
155 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0;
\r
156 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
\r
157 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
\r
158 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
\r
159 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
\r
160 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
\r
161 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
\r
162 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
\r
163 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0;
\r
164 PRIVILEGED_DATA static portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
\r
166 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
168 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
\r
169 PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
\r
170 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
\r
174 /* Debugging and trace facilities private variables and macros. ------------*/
\r
177 * The value used to fill the stack of a task when the task is created. This
\r
178 * is used purely for checking the high water mark for tasks.
\r
180 #define tskSTACK_FILL_BYTE ( 0xa5U )
\r
183 * Macros used by vListTask to indicate which state a task is in.
\r
185 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
\r
186 #define tskREADY_CHAR ( ( signed char ) 'R' )
\r
187 #define tskDELETED_CHAR ( ( signed char ) 'D' )
\r
188 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
\r
191 * Macros and private variables used by the trace facility.
\r
193 #if ( configUSE_TRACE_FACILITY == 1 )
\r
195 #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned long ) ( sizeof( unsigned long ) + sizeof( unsigned long ) ) )
\r
196 PRIVILEGED_DATA static volatile signed char * volatile pcTraceBuffer;
\r
197 PRIVILEGED_DATA static signed char *pcTraceBufferStart;
\r
198 PRIVILEGED_DATA static signed char *pcTraceBufferEnd;
\r
199 PRIVILEGED_DATA static signed portBASE_TYPE xTracing = pdFALSE;
\r
200 static unsigned portBASE_TYPE uxPreviousTask = 255U;
\r
201 PRIVILEGED_DATA static char pcStatusString[ 50 ];
\r
205 /*-----------------------------------------------------------*/
\r
208 * Macro that writes a trace of scheduler activity to a buffer. This trace
\r
209 * shows which task is running when and is very useful as a debugging tool.
\r
210 * As this macro is called each context switch it is a good idea to undefine
\r
211 * it if not using the facility.
\r
213 #if ( configUSE_TRACE_FACILITY == 1 )
\r
215 #define vWriteTraceToBuffer() \
\r
219 if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
\r
221 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
\r
223 uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
\r
224 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) xTickCount; \
\r
225 pcTraceBuffer += sizeof( unsigned long ); \
\r
226 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) uxPreviousTask; \
\r
227 pcTraceBuffer += sizeof( unsigned long ); \
\r
231 xTracing = pdFALSE; \
\r
239 #define vWriteTraceToBuffer()
\r
242 /*-----------------------------------------------------------*/
\r
245 * Place the task represented by pxTCB into the appropriate ready queue for
\r
246 * the task. It is inserted at the end of the list. One quirk of this is
\r
247 * that if the task being inserted is at the same priority as the currently
\r
248 * executing task, then it will only be rescheduled after the currently
\r
249 * executing task has been rescheduled.
\r
251 #define prvAddTaskToReadyQueue( pxTCB ) \
\r
252 if( ( pxTCB )->uxPriority > uxTopReadyPriority ) \
\r
254 uxTopReadyPriority = ( pxTCB )->uxPriority; \
\r
256 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
\r
257 /*-----------------------------------------------------------*/
\r
260 * Macro that looks at the list of tasks that are currently delayed to see if
\r
261 * any require waking.
\r
263 * Tasks are stored in the queue in the order of their wake time - meaning
\r
264 * once one tasks has been found whose timer has not expired we need not look
\r
265 * any further down the list.
\r
267 #define prvCheckDelayedTasks() \
\r
269 register tskTCB *pxTCB; \
\r
270 portTickType xItemValue; \
\r
272 /* Is the tick count greater than or equal to the wake time of the first \
\r
273 task referenced from the delayed tasks list? */ \
\r
274 if( xTickCount >= xNextTaskUnblockTime ) \
\r
278 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
\r
280 /* The delayed list is empty. Set xNextTaskUnblockTime to the \
\r
281 maximum possible value so it is extremely unlikely that the \
\r
282 if( xTickCount >= xNextTaskUnblockTime ) test will pass next \
\r
284 xNextTaskUnblockTime = portMAX_DELAY; \
\r
289 /* The delayed list is not empty, get the value of the item at \
\r
290 the head of the delayed list. This is the time at which the \
\r
291 task at the head of the delayed list should be removed from \
\r
292 the Blocked state. */ \
\r
293 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
\r
294 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
\r
296 if( xTickCount < xItemValue ) \
\r
298 /* It is not time to unblock this item yet, but the item \
\r
299 value is the time at which the task at the head of the \
\r
300 blocked list should be removed from the Blocked state - \
\r
301 so record the item value in xNextTaskUnblockTime. */ \
\r
302 xNextTaskUnblockTime = xItemValue; \
\r
306 /* It is time to remove the item from the Blocked state. */ \
\r
307 vListRemove( &( pxTCB->xGenericListItem ) ); \
\r
309 /* Is the task waiting on an event also? */ \
\r
310 if( pxTCB->xEventListItem.pvContainer ) \
\r
312 vListRemove( &( pxTCB->xEventListItem ) ); \
\r
314 prvAddTaskToReadyQueue( pxTCB ); \
\r
319 /*-----------------------------------------------------------*/
\r
322 * Several functions take an xTaskHandle parameter that can optionally be NULL,
\r
323 * where NULL is used to indicate that the handle of the currently executing
\r
324 * task should be used in place of the parameter. This macro simply checks to
\r
325 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
\r
327 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
\r
329 /* Callback function prototypes. --------------------------*/
\r
330 extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );
\r
332 /* File private functions. --------------------------------*/
\r
335 * Utility to ready a TCB for a given task. Mainly just copies the parameters
\r
336 * into the TCB structure.
\r
338 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
\r
341 * Utility to ready all the lists used by the scheduler. This is called
\r
342 * automatically upon the creation of the first task.
\r
344 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
\r
347 * The idle task, which as all tasks is implemented as a never ending loop.
\r
348 * The idle task is automatically created and added to the ready lists upon
\r
349 * creation of the first user task.
\r
351 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
\r
352 * language extensions. The equivalent prototype for this function is:
\r
354 * void prvIdleTask( void *pvParameters );
\r
357 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
\r
360 * Utility to free all memory allocated by the scheduler to hold a TCB,
\r
361 * including the stack pointed to by the TCB.
\r
363 * This does not free memory allocated by the task itself (i.e. memory
\r
364 * allocated by calls to pvPortMalloc from within the tasks application code).
\r
366 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
\r
368 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
\r
373 * Used only by the idle task. This checks to see if anything has been placed
\r
374 * in the list of tasks waiting to be deleted. If so the task is cleaned up
\r
375 * and its TCB deleted.
\r
377 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
\r
380 * The currently executing task is entering the Blocked state. Add the task to
\r
381 * either the current or the overflow delayed task list.
\r
383 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
\r
386 * Allocates memory from the heap for a TCB and associated stack. Checks the
\r
387 * allocation was successful.
\r
389 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
\r
392 * Called from vTaskList. vListTasks details all the tasks currently under
\r
393 * control of the scheduler. The tasks may be in one of a number of lists.
\r
394 * prvListTaskWithinSingleList accepts a list and details the tasks from
\r
395 * within just that list.
\r
397 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
\r
398 * NORMAL APPLICATION CODE.
\r
400 #if ( configUSE_TRACE_FACILITY == 1 )
\r
402 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
\r
407 * When a task is created, the stack of the task is filled with a known value.
\r
408 * This function determines the 'high water mark' of the task stack by
\r
409 * determining how much of the stack remains at the original preset value.
\r
411 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
413 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
\r
422 /*-----------------------------------------------------------
\r
423 * TASK CREATION API documented in task.h
\r
424 *----------------------------------------------------------*/
\r
426 signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
\r
428 signed portBASE_TYPE xReturn;
\r
431 /* Allocate the memory required by the TCB and stack for the new task,
\r
432 checking that the allocation was successful. */
\r
433 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
\r
435 if( pxNewTCB != NULL )
\r
437 portSTACK_TYPE *pxTopOfStack;
\r
439 #if( portUSING_MPU_WRAPPERS == 1 )
\r
440 /* Should the task be created in privileged mode? */
\r
441 portBASE_TYPE xRunPrivileged;
\r
442 if( ( uxPriority & portPRIVILEGE_BIT ) != 0x00 )
\r
444 xRunPrivileged = pdTRUE;
\r
448 xRunPrivileged = pdFALSE;
\r
450 uxPriority &= ~portPRIVILEGE_BIT;
\r
451 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
453 /* Calculate the top of stack address. This depends on whether the
\r
454 stack grows from high memory to low (as per the 80x86) or visa versa.
\r
455 portSTACK_GROWTH is used to make the result positive or negative as
\r
456 required by the port. */
\r
457 #if( portSTACK_GROWTH < 0 )
\r
459 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
\r
460 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( unsigned long ) pxTopOfStack ) & ( ( unsigned long ) ~portBYTE_ALIGNMENT_MASK ) );
\r
464 pxTopOfStack = pxNewTCB->pxStack;
\r
466 /* If we want to use stack checking on architectures that use
\r
467 a positive stack growth direction then we also need to store the
\r
468 other extreme of the stack space. */
\r
469 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
\r
473 /* Setup the newly allocated TCB with the initial state of the task. */
\r
474 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
\r
476 /* Initialize the TCB stack to look as if the task was already running,
\r
477 but had been interrupted by the scheduler. The return address is set
\r
478 to the start of the task function. Once the stack has been initialised
\r
479 the top of stack variable is updated. */
\r
480 #if( portUSING_MPU_WRAPPERS == 1 )
\r
482 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
486 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
490 if( ( void * ) pxCreatedTask != NULL )
\r
492 /* Pass the TCB out - in an anonymous way. The calling function/
\r
493 task can use this as a handle to delete the task later if
\r
495 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
\r
498 /* We are going to manipulate the task queues to add this task to a
\r
499 ready list, so must make sure no interrupts occur. */
\r
500 taskENTER_CRITICAL();
\r
502 uxCurrentNumberOfTasks++;
\r
503 if( pxCurrentTCB == NULL )
\r
505 /* There are no other tasks, or all the other tasks are in
\r
506 the suspended state - make this the current task. */
\r
507 pxCurrentTCB = pxNewTCB;
\r
509 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
511 /* This is the first task to be created so do the preliminary
\r
512 initialisation required. We will not recover if this call
\r
513 fails, but we will report the failure. */
\r
514 prvInitialiseTaskLists();
\r
519 /* If the scheduler is not already running, make this task the
\r
520 current task if it is the highest priority task to be created
\r
522 if( xSchedulerRunning == pdFALSE )
\r
524 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
526 pxCurrentTCB = pxNewTCB;
\r
531 /* Remember the top priority to make context switching faster. Use
\r
532 the priority in pxNewTCB as this has been capped to a valid value. */
\r
533 if( pxNewTCB->uxPriority > uxTopUsedPriority )
\r
535 uxTopUsedPriority = pxNewTCB->uxPriority;
\r
538 #if ( configUSE_TRACE_FACILITY == 1 )
\r
540 /* Add a counter into the TCB for tracing only. */
\r
541 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
546 prvAddTaskToReadyQueue( pxNewTCB );
\r
549 traceTASK_CREATE( pxNewTCB );
\r
551 taskEXIT_CRITICAL();
\r
555 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
556 traceTASK_CREATE_FAILED();
\r
559 if( xReturn == pdPASS )
\r
561 if( xSchedulerRunning != pdFALSE )
\r
563 /* If the created task is of a higher priority than the current task
\r
564 then it should run now. */
\r
565 if( pxCurrentTCB->uxPriority < uxPriority )
\r
567 portYIELD_WITHIN_API();
\r
574 /*-----------------------------------------------------------*/
\r
576 #if ( INCLUDE_vTaskDelete == 1 )
\r
578 void vTaskDelete( xTaskHandle pxTaskToDelete )
\r
582 taskENTER_CRITICAL();
\r
584 /* Ensure a yield is performed if the current task is being
\r
586 if( pxTaskToDelete == pxCurrentTCB )
\r
588 pxTaskToDelete = NULL;
\r
591 /* If null is passed in here then we are deleting ourselves. */
\r
592 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
\r
594 /* Remove task from the ready list and place in the termination list.
\r
595 This will stop the task from be scheduled. The idle task will check
\r
596 the termination list and free up any memory allocated by the
\r
597 scheduler for the TCB and stack. */
\r
598 vListRemove( &( pxTCB->xGenericListItem ) );
\r
600 /* Is the task waiting on an event also? */
\r
601 if( pxTCB->xEventListItem.pvContainer )
\r
603 vListRemove( &( pxTCB->xEventListItem ) );
\r
606 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
608 /* Increment the ucTasksDeleted variable so the idle task knows
\r
609 there is a task that has been deleted and that it should therefore
\r
610 check the xTasksWaitingTermination list. */
\r
613 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
614 can detect that the task lists need re-generating. */
\r
617 traceTASK_DELETE( pxTCB );
\r
619 taskEXIT_CRITICAL();
\r
621 /* Force a reschedule if we have just deleted the current task. */
\r
622 if( xSchedulerRunning != pdFALSE )
\r
624 if( ( void * ) pxTaskToDelete == NULL )
\r
626 portYIELD_WITHIN_API();
\r
638 /*-----------------------------------------------------------
\r
639 * TASK CONTROL API documented in task.h
\r
640 *----------------------------------------------------------*/
\r
642 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
644 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
646 portTickType xTimeToWake;
\r
647 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
651 /* Generate the tick time at which the task wants to wake. */
\r
652 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
654 if( xTickCount < *pxPreviousWakeTime )
\r
656 /* The tick count has overflowed since this function was
\r
657 lasted called. In this case the only time we should ever
\r
658 actually delay is if the wake time has also overflowed,
\r
659 and the wake time is greater than the tick time. When this
\r
660 is the case it is as if neither time had overflowed. */
\r
661 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
663 xShouldDelay = pdTRUE;
\r
668 /* The tick time has not overflowed. In this case we will
\r
669 delay if either the wake time has overflowed, and/or the
\r
670 tick time is less than the wake time. */
\r
671 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
673 xShouldDelay = pdTRUE;
\r
677 /* Update the wake time ready for the next call. */
\r
678 *pxPreviousWakeTime = xTimeToWake;
\r
680 if( xShouldDelay != pdFALSE )
\r
682 traceTASK_DELAY_UNTIL();
\r
684 /* We must remove ourselves from the ready list before adding
\r
685 ourselves to the blocked list as the same list item is used for
\r
687 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
688 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
691 xAlreadyYielded = xTaskResumeAll();
\r
693 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
694 have put ourselves to sleep. */
\r
695 if( !xAlreadyYielded )
\r
697 portYIELD_WITHIN_API();
\r
702 /*-----------------------------------------------------------*/
\r
704 #if ( INCLUDE_vTaskDelay == 1 )
\r
706 void vTaskDelay( portTickType xTicksToDelay )
\r
708 portTickType xTimeToWake;
\r
709 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
711 /* A delay time of zero just forces a reschedule. */
\r
712 if( xTicksToDelay > ( portTickType ) 0 )
\r
718 /* A task that is removed from the event list while the
\r
719 scheduler is suspended will not get placed in the ready
\r
720 list or removed from the blocked list until the scheduler
\r
723 This task cannot be in an event list as it is the currently
\r
726 /* Calculate the time to wake - this may overflow but this is
\r
728 xTimeToWake = xTickCount + xTicksToDelay;
\r
730 /* We must remove ourselves from the ready list before adding
\r
731 ourselves to the blocked list as the same list item is used for
\r
733 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
734 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
736 xAlreadyYielded = xTaskResumeAll();
\r
739 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
740 have put ourselves to sleep. */
\r
741 if( !xAlreadyYielded )
\r
743 portYIELD_WITHIN_API();
\r
748 /*-----------------------------------------------------------*/
\r
750 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
752 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
755 unsigned portBASE_TYPE uxReturn;
\r
757 taskENTER_CRITICAL();
\r
759 /* If null is passed in here then we are changing the
\r
760 priority of the calling function. */
\r
761 pxTCB = prvGetTCBFromHandle( pxTask );
\r
762 uxReturn = pxTCB->uxPriority;
\r
764 taskEXIT_CRITICAL();
\r
770 /*-----------------------------------------------------------*/
\r
772 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
774 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
777 unsigned portBASE_TYPE uxCurrentPriority;
\r
778 portBASE_TYPE xYieldRequired = pdFALSE;
\r
780 /* Ensure the new priority is valid. */
\r
781 if( uxNewPriority >= configMAX_PRIORITIES )
\r
783 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
786 taskENTER_CRITICAL();
\r
788 if( pxTask == pxCurrentTCB )
\r
793 /* If null is passed in here then we are changing the
\r
794 priority of the calling function. */
\r
795 pxTCB = prvGetTCBFromHandle( pxTask );
\r
797 traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
\r
799 #if ( configUSE_MUTEXES == 1 )
\r
801 uxCurrentPriority = pxTCB->uxBasePriority;
\r
805 uxCurrentPriority = pxTCB->uxPriority;
\r
809 if( uxCurrentPriority != uxNewPriority )
\r
811 /* The priority change may have readied a task of higher
\r
812 priority than the calling task. */
\r
813 if( uxNewPriority > uxCurrentPriority )
\r
815 if( pxTask != NULL )
\r
817 /* The priority of another task is being raised. If we
\r
818 were raising the priority of the currently running task
\r
819 there would be no need to switch as it must have already
\r
820 been the highest priority task. */
\r
821 xYieldRequired = pdTRUE;
\r
824 else if( pxTask == NULL )
\r
826 /* Setting our own priority down means there may now be another
\r
827 task of higher priority that is ready to execute. */
\r
828 xYieldRequired = pdTRUE;
\r
833 #if ( configUSE_MUTEXES == 1 )
\r
835 /* Only change the priority being used if the task is not
\r
836 currently using an inherited priority. */
\r
837 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
839 pxTCB->uxPriority = uxNewPriority;
\r
842 /* The base priority gets set whatever. */
\r
843 pxTCB->uxBasePriority = uxNewPriority;
\r
847 pxTCB->uxPriority = uxNewPriority;
\r
851 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
853 /* If the task is in the blocked or suspended list we need do
\r
854 nothing more than change it's priority variable. However, if
\r
855 the task is in a ready list it needs to be removed and placed
\r
856 in the queue appropriate to its new priority. */
\r
857 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
859 /* The task is currently in its ready list - remove before adding
\r
860 it to it's new ready list. As we are in a critical section we
\r
861 can do this even if the scheduler is suspended. */
\r
862 vListRemove( &( pxTCB->xGenericListItem ) );
\r
863 prvAddTaskToReadyQueue( pxTCB );
\r
866 if( xYieldRequired == pdTRUE )
\r
868 portYIELD_WITHIN_API();
\r
872 taskEXIT_CRITICAL();
\r
876 /*-----------------------------------------------------------*/
\r
878 #if ( INCLUDE_vTaskSuspend == 1 )
\r
880 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
884 taskENTER_CRITICAL();
\r
886 /* Ensure a yield is performed if the current task is being
\r
888 if( pxTaskToSuspend == pxCurrentTCB )
\r
890 pxTaskToSuspend = NULL;
\r
893 /* If null is passed in here then we are suspending ourselves. */
\r
894 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
896 traceTASK_SUSPEND( pxTCB );
\r
898 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
899 vListRemove( &( pxTCB->xGenericListItem ) );
\r
901 /* Is the task waiting on an event also? */
\r
902 if( pxTCB->xEventListItem.pvContainer )
\r
904 vListRemove( &( pxTCB->xEventListItem ) );
\r
907 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
909 taskEXIT_CRITICAL();
\r
911 if( ( void * ) pxTaskToSuspend == NULL )
\r
913 if( xSchedulerRunning != pdFALSE )
\r
915 /* We have just suspended the current task. */
\r
916 portYIELD_WITHIN_API();
\r
920 /* The scheduler is not running, but the task that was pointed
\r
921 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
922 must be adjusted to point to a different task. */
\r
923 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1U )
\r
925 /* No other tasks are defined, so set pxCurrentTCB back to
\r
926 NULL so when the next task is created pxCurrentTCB will
\r
927 be set to point to it no matter what its relative priority
\r
929 pxCurrentTCB = NULL;
\r
933 vTaskSwitchContext();
\r
940 /*-----------------------------------------------------------*/
\r
942 #if ( INCLUDE_vTaskSuspend == 1 )
\r
944 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
946 portBASE_TYPE xReturn = pdFALSE;
\r
947 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
949 /* Is the task we are attempting to resume actually in the
\r
951 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
953 /* Has the task already been resumed from within an ISR? */
\r
954 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
956 /* Is it in the suspended list because it is in the
\r
957 Suspended state? It is possible to be in the suspended
\r
958 list because it is blocked on a task with no timeout
\r
960 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
971 /*-----------------------------------------------------------*/
\r
973 #if ( INCLUDE_vTaskSuspend == 1 )
\r
975 void vTaskResume( xTaskHandle pxTaskToResume )
\r
979 /* Remove the task from whichever list it is currently in, and place
\r
980 it in the ready list. */
\r
981 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
983 /* The parameter cannot be NULL as it is impossible to resume the
\r
984 currently executing task. */
\r
985 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
987 taskENTER_CRITICAL();
\r
989 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
991 traceTASK_RESUME( pxTCB );
\r
993 /* As we are in a critical section we can access the ready
\r
994 lists even if the scheduler is suspended. */
\r
995 vListRemove( &( pxTCB->xGenericListItem ) );
\r
996 prvAddTaskToReadyQueue( pxTCB );
\r
998 /* We may have just resumed a higher priority task. */
\r
999 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1001 /* This yield may not cause the task just resumed to run, but
\r
1002 will leave the lists in the correct state for the next yield. */
\r
1003 portYIELD_WITHIN_API();
\r
1007 taskEXIT_CRITICAL();
\r
1013 /*-----------------------------------------------------------*/
\r
1015 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1017 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
1019 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1022 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1024 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1026 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1028 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1030 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1031 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1032 prvAddTaskToReadyQueue( pxTCB );
\r
1036 /* We cannot access the delayed or ready lists, so will hold this
\r
1037 task pending until the scheduler is resumed, at which point a
\r
1038 yield will be performed if necessary. */
\r
1039 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1043 return xYieldRequired;
\r
1051 /*-----------------------------------------------------------
\r
1052 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1053 *----------------------------------------------------------*/
\r
1056 void vTaskStartScheduler( void )
\r
1058 portBASE_TYPE xReturn;
\r
1060 /* Add the idle task at the lowest priority. */
\r
1061 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), ( xTaskHandle * ) NULL );
\r
1063 if( xReturn == pdPASS )
\r
1065 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1066 before or during the call to xPortStartScheduler(). The stacks of
\r
1067 the created tasks contain a status word with interrupts switched on
\r
1068 so interrupts will automatically get re-enabled when the first task
\r
1071 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1072 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1073 portDISABLE_INTERRUPTS();
\r
1075 xSchedulerRunning = pdTRUE;
\r
1076 xTickCount = ( portTickType ) 0;
\r
1078 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1079 macro must be defined to configure the timer/counter used to generate
\r
1080 the run time counter time base. */
\r
1081 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1083 /* Setting up the timer tick is hardware specific and thus in the
\r
1084 portable interface. */
\r
1085 if( xPortStartScheduler() )
\r
1087 /* Should not reach here as if the scheduler is running the
\r
1088 function will not return. */
\r
1092 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1096 /*-----------------------------------------------------------*/
\r
1098 void vTaskEndScheduler( void )
\r
1100 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1101 routine so the original ISRs can be restored if necessary. The port
\r
1102 layer must ensure interrupts enable bit is left in the correct state. */
\r
1103 portDISABLE_INTERRUPTS();
\r
1104 xSchedulerRunning = pdFALSE;
\r
1105 vPortEndScheduler();
\r
1107 /*----------------------------------------------------------*/
\r
1109 void vTaskSuspendAll( void )
\r
1111 /* A critical section is not required as the variable is of type
\r
1113 ++uxSchedulerSuspended;
\r
1115 /*----------------------------------------------------------*/
\r
1117 signed portBASE_TYPE xTaskResumeAll( void )
\r
1119 register tskTCB *pxTCB;
\r
1120 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1122 /* It is possible that an ISR caused a task to be removed from an event
\r
1123 list while the scheduler was suspended. If this was the case then the
\r
1124 removed task will have been added to the xPendingReadyList. Once the
\r
1125 scheduler has been resumed it is safe to move all the pending ready
\r
1126 tasks from this list into their appropriate ready list. */
\r
1127 taskENTER_CRITICAL();
\r
1129 --uxSchedulerSuspended;
\r
1131 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1133 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
\r
1135 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1137 /* Move any readied tasks from the pending list into the
\r
1138 appropriate ready list. */
\r
1139 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1141 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1142 vListRemove( &( pxTCB->xEventListItem ) );
\r
1143 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1144 prvAddTaskToReadyQueue( pxTCB );
\r
1146 /* If we have moved a task that has a priority higher than
\r
1147 the current task then we should yield. */
\r
1148 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1150 xYieldRequired = pdTRUE;
\r
1154 /* If any ticks occurred while the scheduler was suspended then
\r
1155 they should be processed now. This ensures the tick count does not
\r
1156 slip, and that any delayed tasks are resumed at the correct time. */
\r
1157 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1159 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1161 vTaskIncrementTick();
\r
1165 /* As we have processed some ticks it is appropriate to yield
\r
1166 to ensure the highest priority task that is ready to run is
\r
1167 the task actually running. */
\r
1168 #if configUSE_PREEMPTION == 1
\r
1170 xYieldRequired = pdTRUE;
\r
1175 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1177 xAlreadyYielded = pdTRUE;
\r
1178 xMissedYield = pdFALSE;
\r
1179 portYIELD_WITHIN_API();
\r
1184 taskEXIT_CRITICAL();
\r
1186 return xAlreadyYielded;
\r
1194 /*-----------------------------------------------------------
\r
1195 * PUBLIC TASK UTILITIES documented in task.h
\r
1196 *----------------------------------------------------------*/
\r
1200 portTickType xTaskGetTickCount( void )
\r
1202 portTickType xTicks;
\r
1204 /* Critical section required if running on a 16 bit processor. */
\r
1205 taskENTER_CRITICAL();
\r
1207 xTicks = xTickCount;
\r
1209 taskEXIT_CRITICAL();
\r
1213 /*-----------------------------------------------------------*/
\r
1215 portTickType xTaskGetTickCountFromISR( void )
\r
1217 return xTickCount;
\r
1219 /*-----------------------------------------------------------*/
\r
1221 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1223 /* A critical section is not required because the variables are of type
\r
1225 return uxCurrentNumberOfTasks;
\r
1227 /*-----------------------------------------------------------*/
\r
1229 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1231 void vTaskList( signed char *pcWriteBuffer )
\r
1233 unsigned portBASE_TYPE uxQueue;
\r
1235 /* This is a VERY costly function that should be used for debug only.
\r
1236 It leaves interrupts disabled for a LONG time. */
\r
1238 vTaskSuspendAll();
\r
1240 /* Run through all the lists that could potentially contain a TCB and
\r
1241 report the task name, state and stack high water mark. */
\r
1243 *pcWriteBuffer = ( signed char ) 0x00;
\r
1244 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1246 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1252 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1254 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1256 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1258 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1260 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1263 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1265 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1268 #if( INCLUDE_vTaskDelete == 1 )
\r
1270 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1272 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1277 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1279 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1281 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1290 /*----------------------------------------------------------*/
\r
1292 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1294 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1296 unsigned portBASE_TYPE uxQueue;
\r
1297 unsigned long ulTotalRunTime;
\r
1299 /* This is a VERY costly function that should be used for debug only.
\r
1300 It leaves interrupts disabled for a LONG time. */
\r
1302 vTaskSuspendAll();
\r
1304 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1305 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1307 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1310 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1311 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1312 ulTotalRunTime /= 100UL;
\r
1314 /* Run through all the lists that could potentially contain a TCB,
\r
1315 generating a table of run timer percentages in the provided
\r
1318 *pcWriteBuffer = ( signed char ) 0x00;
\r
1319 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1321 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1327 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1329 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
\r
1331 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1333 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1335 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
\r
1338 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1340 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
\r
1343 #if ( INCLUDE_vTaskDelete == 1 )
\r
1345 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1347 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, ulTotalRunTime );
\r
1352 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1354 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1356 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, ulTotalRunTime );
\r
1365 /*----------------------------------------------------------*/
\r
1367 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1369 void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize )
\r
1371 taskENTER_CRITICAL();
\r
1373 pcTraceBuffer = ( signed char * )pcBuffer;
\r
1374 pcTraceBufferStart = pcBuffer;
\r
1375 pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
\r
1376 xTracing = pdTRUE;
\r
1378 taskEXIT_CRITICAL();
\r
1382 /*----------------------------------------------------------*/
\r
1384 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1386 unsigned long ulTaskEndTrace( void )
\r
1388 unsigned long ulBufferLength;
\r
1390 taskENTER_CRITICAL();
\r
1391 xTracing = pdFALSE;
\r
1392 taskEXIT_CRITICAL();
\r
1394 ulBufferLength = ( unsigned long ) ( pcTraceBuffer - pcTraceBufferStart );
\r
1396 return ulBufferLength;
\r
1403 /*-----------------------------------------------------------
\r
1404 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1405 * documented in task.h
\r
1406 *----------------------------------------------------------*/
\r
1409 void vTaskIncrementTick( void )
\r
1411 /* Called by the portable layer each time a tick interrupt occurs.
\r
1412 Increments the tick then checks to see if the new tick value will cause any
\r
1413 tasks to be unblocked. */
\r
1414 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1417 if( xTickCount == ( portTickType ) 0 )
\r
1421 /* Tick count has overflowed so we need to swap the delay lists.
\r
1422 If there are any items in pxDelayedTaskList here then there is
\r
1424 pxTemp = pxDelayedTaskList;
\r
1425 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1426 pxOverflowDelayedTaskList = pxTemp;
\r
1427 xNumOfOverflows++;
\r
1428 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1430 /* The delayed list is empty. Set xNextTaskUnblockTime to the
\r
1431 maximum possible value so it is extremely unlikely that the
\r
1432 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1433 until there is an item in the delayed list. */
\r
1434 xNextTaskUnblockTime = portMAX_DELAY;
\r
1440 /* The delayed list is not empty, get the value of the item at
\r
1441 the head of the delayed list. This is the time at which the
\r
1442 task at the head of the delayed list should be removed from
\r
1443 the Blocked state. */
\r
1444 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1445 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1449 /* See if this tick has made a timeout expire. */
\r
1450 prvCheckDelayedTasks();
\r
1456 /* The tick hook gets called at regular intervals, even if the
\r
1457 scheduler is locked. */
\r
1458 #if ( configUSE_TICK_HOOK == 1 )
\r
1460 extern void vApplicationTickHook( void );
\r
1462 vApplicationTickHook();
\r
1467 #if ( configUSE_TICK_HOOK == 1 )
\r
1469 extern void vApplicationTickHook( void );
\r
1471 /* Guard against the tick hook being called when the missed tick
\r
1472 count is being unwound (when the scheduler is being unlocked. */
\r
1473 if( uxMissedTicks == 0 )
\r
1475 vApplicationTickHook();
\r
1480 traceTASK_INCREMENT_TICK( xTickCount );
\r
1482 /*-----------------------------------------------------------*/
\r
1484 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1486 void vTaskCleanUpResources( void )
\r
1488 unsigned short usQueue;
\r
1489 volatile tskTCB *pxTCB;
\r
1491 usQueue = ( unsigned short ) uxTopUsedPriority + ( unsigned short ) 1;
\r
1493 /* Remove any TCB's from the ready queues. */
\r
1498 while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
\r
1500 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
\r
1501 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1503 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1505 }while( usQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1507 /* Remove any TCB's from the delayed queue. */
\r
1508 while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
\r
1510 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
\r
1511 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1513 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1516 /* Remove any TCB's from the overflow delayed queue. */
\r
1517 while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
\r
1519 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
\r
1520 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1522 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1525 while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1527 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
\r
1528 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1530 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1535 /*-----------------------------------------------------------*/
\r
1537 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1539 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue )
\r
1543 /* If xTask is NULL then we are setting our own task hook. */
\r
1544 if( xTask == NULL )
\r
1546 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1550 xTCB = ( tskTCB * ) xTask;
\r
1553 /* Save the hook function in the TCB. A critical section is required as
\r
1554 the value can be accessed from an interrupt. */
\r
1555 taskENTER_CRITICAL();
\r
1556 xTCB->pxTaskTag = pxTagValue;
\r
1557 taskEXIT_CRITICAL();
\r
1561 /*-----------------------------------------------------------*/
\r
1563 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1565 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1568 pdTASK_HOOK_CODE xReturn;
\r
1570 /* If xTask is NULL then we are setting our own task hook. */
\r
1571 if( xTask == NULL )
\r
1573 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1577 xTCB = ( tskTCB * ) xTask;
\r
1580 /* Save the hook function in the TCB. A critical section is required as
\r
1581 the value can be accessed from an interrupt. */
\r
1582 taskENTER_CRITICAL();
\r
1583 xReturn = xTCB->pxTaskTag;
\r
1584 taskEXIT_CRITICAL();
\r
1590 /*-----------------------------------------------------------*/
\r
1592 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1594 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1597 portBASE_TYPE xReturn;
\r
1599 /* If xTask is NULL then we are calling our own task hook. */
\r
1600 if( xTask == NULL )
\r
1602 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1606 xTCB = ( tskTCB * ) xTask;
\r
1609 if( xTCB->pxTaskTag != NULL )
\r
1611 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1622 /*-----------------------------------------------------------*/
\r
1624 void vTaskSwitchContext( void )
\r
1626 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1628 /* The scheduler is currently suspended - do not allow a context
\r
1630 xMissedYield = pdTRUE;
\r
1634 traceTASK_SWITCHED_OUT();
\r
1636 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1638 unsigned long ulTempCounter;
\r
1640 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1641 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter );
\r
1643 ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
\r
1646 /* Add the amount of time the task has been running to the accumulated
\r
1647 time so far. The time the task started running was stored in
\r
1648 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1649 so count values are only valid until the timer overflows. Generally
\r
1650 this will be about 1 hour assuming a 1uS timer increment. */
\r
1651 pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
\r
1652 ulTaskSwitchedInTime = ulTempCounter;
\r
1656 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1657 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1659 /* Find the highest priority queue that contains ready tasks. */
\r
1660 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1662 --uxTopReadyPriority;
\r
1665 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1666 same priority get an equal share of the processor time. */
\r
1667 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1669 traceTASK_SWITCHED_IN();
\r
1670 vWriteTraceToBuffer();
\r
1673 /*-----------------------------------------------------------*/
\r
1675 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1677 portTickType xTimeToWake;
\r
1679 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1680 SCHEDULER SUSPENDED. */
\r
1682 /* Place the event list item of the TCB in the appropriate event list.
\r
1683 This is placed in the list in priority order so the highest priority task
\r
1684 is the first to be woken by the event. */
\r
1685 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1687 /* We must remove ourselves from the ready list before adding ourselves
\r
1688 to the blocked list as the same list item is used for both lists. We have
\r
1689 exclusive access to the ready lists as the scheduler is locked. */
\r
1690 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1693 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1695 if( xTicksToWait == portMAX_DELAY )
\r
1697 /* Add ourselves to the suspended task list instead of a delayed task
\r
1698 list to ensure we are not woken by a timing event. We will block
\r
1700 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1704 /* Calculate the time at which the task should be woken if the event does
\r
1705 not occur. This may overflow but this doesn't matter. */
\r
1706 xTimeToWake = xTickCount + xTicksToWait;
\r
1707 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1712 /* Calculate the time at which the task should be woken if the event does
\r
1713 not occur. This may overflow but this doesn't matter. */
\r
1714 xTimeToWake = xTickCount + xTicksToWait;
\r
1715 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1719 /*-----------------------------------------------------------*/
\r
1721 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1723 tskTCB *pxUnblockedTCB;
\r
1724 portBASE_TYPE xReturn;
\r
1726 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1727 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1729 /* The event list is sorted in priority order, so we can remove the
\r
1730 first in the list, remove the TCB from the delayed list, and add
\r
1731 it to the ready list.
\r
1733 If an event is for a queue that is locked then this function will never
\r
1734 get called - the lock count on the queue will get modified instead. This
\r
1735 means we can always expect exclusive access to the event list here.
\r
1737 This function assumes that a check has already been made to ensure that
\r
1738 pxEventList is not empty. */
\r
1739 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1740 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1742 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1744 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1745 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1749 /* We cannot access the delayed or ready lists, so will hold this
\r
1750 task pending until the scheduler is resumed. */
\r
1751 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1754 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1756 /* Return true if the task removed from the event list has
\r
1757 a higher priority than the calling task. This allows
\r
1758 the calling task to know if it should force a context
\r
1764 xReturn = pdFALSE;
\r
1769 /*-----------------------------------------------------------*/
\r
1771 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1773 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1774 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1776 /*-----------------------------------------------------------*/
\r
1778 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1780 portBASE_TYPE xReturn;
\r
1782 taskENTER_CRITICAL();
\r
1784 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1785 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1786 the maximum block time then the task should block indefinitely, and
\r
1787 therefore never time out. */
\r
1788 if( *pxTicksToWait == portMAX_DELAY )
\r
1790 xReturn = pdFALSE;
\r
1792 else /* We are not blocking indefinitely, perform the checks below. */
\r
1795 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
1797 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1798 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1799 It must have wrapped all the way around and gone past us again. This
\r
1800 passed since vTaskSetTimeout() was called. */
\r
1803 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
1805 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1806 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
1807 vTaskSetTimeOutState( pxTimeOut );
\r
1808 xReturn = pdFALSE;
\r
1815 taskEXIT_CRITICAL();
\r
1819 /*-----------------------------------------------------------*/
\r
1821 void vTaskMissedYield( void )
\r
1823 xMissedYield = pdTRUE;
\r
1827 * -----------------------------------------------------------
\r
1829 * ----------------------------------------------------------
\r
1831 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1832 * language extensions. The equivalent prototype for this function is:
\r
1834 * void prvIdleTask( void *pvParameters );
\r
1837 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1839 /* Stop warnings. */
\r
1840 ( void ) pvParameters;
\r
1844 /* See if any tasks have been deleted. */
\r
1845 prvCheckTasksWaitingTermination();
\r
1847 #if ( configUSE_PREEMPTION == 0 )
\r
1849 /* If we are not using preemption we keep forcing a task switch to
\r
1850 see if any other task has become available. If we are using
\r
1851 preemption we don't need to do this as any task becoming available
\r
1852 will automatically get the processor anyway. */
\r
1857 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1859 /* When using preemption tasks of equal priority will be
\r
1860 timesliced. If a task that is sharing the idle priority is ready
\r
1861 to run then the idle task should yield before the end of the
\r
1864 A critical region is not required here as we are just reading from
\r
1865 the list, and an occasional incorrect value will not matter. If
\r
1866 the ready list at the idle priority contains more than one task
\r
1867 then a task other than the idle task is ready to execute. */
\r
1868 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1875 #if ( configUSE_IDLE_HOOK == 1 )
\r
1877 extern void vApplicationIdleHook( void );
\r
1879 /* Call the user defined function from within the idle task. This
\r
1880 allows the application designer to add background functionality
\r
1881 without the overhead of a separate task.
\r
1882 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1883 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1884 vApplicationIdleHook();
\r
1888 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1896 /*-----------------------------------------------------------
\r
1897 * File private functions documented at the top of the file.
\r
1898 *----------------------------------------------------------*/
\r
1902 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
1904 /* Store the function name in the TCB. */
\r
1905 #if configMAX_TASK_NAME_LEN > 1
\r
1907 /* Don't bring strncpy into the build unnecessarily. */
\r
1908 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
1911 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
\r
1913 /* This is used as an array index so must ensure it's not too large. First
\r
1914 remove the privilege bit if one is present. */
\r
1915 if( uxPriority >= configMAX_PRIORITIES )
\r
1917 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
1920 pxTCB->uxPriority = uxPriority;
\r
1921 #if ( configUSE_MUTEXES == 1 )
\r
1923 pxTCB->uxBasePriority = uxPriority;
\r
1927 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
1928 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
1930 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
1931 back to the containing TCB from a generic item in a list. */
\r
1932 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
1934 /* Event lists are always in priority order. */
\r
1935 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
1936 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
1938 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
1940 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
\r
1944 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1946 pxTCB->pxTaskTag = NULL;
\r
1950 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1952 pxTCB->ulRunTimeCounter = 0UL;
\r
1956 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
1958 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
1962 ( void ) xRegions;
\r
1963 ( void ) usStackDepth;
\r
1967 /*-----------------------------------------------------------*/
\r
1969 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
1971 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
1975 if( xTaskToModify == pxCurrentTCB )
\r
1977 xTaskToModify = NULL;
\r
1980 /* If null is passed in here then we are deleting ourselves. */
\r
1981 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
1983 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
1985 /*-----------------------------------------------------------*/
\r
1988 static void prvInitialiseTaskLists( void )
\r
1990 unsigned portBASE_TYPE uxPriority;
\r
1992 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
1994 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
1997 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
1998 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
1999 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2001 #if ( INCLUDE_vTaskDelete == 1 )
\r
2003 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2007 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2009 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2013 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2015 pxDelayedTaskList = &xDelayedTaskList1;
\r
2016 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2018 /*-----------------------------------------------------------*/
\r
2020 static void prvCheckTasksWaitingTermination( void )
\r
2022 #if ( INCLUDE_vTaskDelete == 1 )
\r
2024 portBASE_TYPE xListIsEmpty;
\r
2026 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2027 too often in the idle task. */
\r
2028 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
\r
2030 vTaskSuspendAll();
\r
2031 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2034 if( xListIsEmpty == pdFALSE )
\r
2038 taskENTER_CRITICAL();
\r
2040 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2041 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2042 --uxCurrentNumberOfTasks;
\r
2045 taskEXIT_CRITICAL();
\r
2047 prvDeleteTCB( pxTCB );
\r
2053 /*-----------------------------------------------------------*/
\r
2055 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2057 /* The list item will be inserted in wake time order. */
\r
2058 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2060 if( xTimeToWake < xTickCount )
\r
2062 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2063 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2067 /* The wake time has not overflowed, so we can use the current block list. */
\r
2068 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2070 /* If the task entering the blocked state was placed at the head of the
\r
2071 list of blocked tasks then xNextTaskUnmblockTime needs to be updated
\r
2073 if( xTimeToWake < xNextTaskUnblockTime )
\r
2075 xNextTaskUnblockTime = xTimeToWake;
\r
2079 /*-----------------------------------------------------------*/
\r
2081 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2085 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2086 the implementation of the port malloc function. */
\r
2087 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2089 if( pxNewTCB != NULL )
\r
2091 /* Allocate space for the stack used by the task being created.
\r
2092 The base of the stack memory stored in the TCB so the task can
\r
2093 be deleted later if required. */
\r
2094 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2096 if( pxNewTCB->pxStack == NULL )
\r
2098 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2099 vPortFree( pxNewTCB );
\r
2104 /* Just to help debugging. */
\r
2105 memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2111 /*-----------------------------------------------------------*/
\r
2113 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2115 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2117 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2118 unsigned short usStackRemaining;
\r
2120 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2121 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2124 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2125 #if ( portSTACK_GROWTH > 0 )
\r
2127 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2131 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2135 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
2136 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2138 } while( pxNextTCB != pxFirstTCB );
\r
2142 /*-----------------------------------------------------------*/
\r
2144 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2146 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
\r
2148 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2149 unsigned long ulStatsAsPercentage;
\r
2151 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2152 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2155 /* Get next TCB in from the list. */
\r
2156 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2158 /* Divide by zero check. */
\r
2159 if( ulTotalRunTime > 0UL )
\r
2161 /* Has the task run at all? */
\r
2162 if( pxNextTCB->ulRunTimeCounter == 0 )
\r
2164 /* The task has used no CPU time at all. */
\r
2165 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2169 /* What percentage of the total run time has the task used?
\r
2170 This will always be rounded down to the nearest integer.
\r
2171 ulTotalRunTime has already been divided by 100. */
\r
2172 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime;
\r
2174 if( ulStatsAsPercentage > 0UL )
\r
2176 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2178 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2182 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2183 printf() library can be used. */
\r
2184 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2190 /* If the percentage is zero here then the task has
\r
2191 consumed less than 1% of the total run time. */
\r
2192 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2194 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2198 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2199 printf() library can be used. */
\r
2200 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2206 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2209 } while( pxNextTCB != pxFirstTCB );
\r
2213 /*-----------------------------------------------------------*/
\r
2215 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2217 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2219 register unsigned short usCount = 0;
\r
2221 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2223 pucStackByte -= portSTACK_GROWTH;
\r
2227 usCount /= sizeof( portSTACK_TYPE );
\r
2233 /*-----------------------------------------------------------*/
\r
2235 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2237 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2240 unsigned char *pcEndOfStack;
\r
2241 unsigned portBASE_TYPE uxReturn;
\r
2243 pxTCB = prvGetTCBFromHandle( xTask );
\r
2245 #if portSTACK_GROWTH < 0
\r
2247 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2251 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2255 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2261 /*-----------------------------------------------------------*/
\r
2263 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
\r
2265 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2267 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2268 the task to free any memory allocated at the application level. */
\r
2269 vPortFreeAligned( pxTCB->pxStack );
\r
2270 vPortFree( pxTCB );
\r
2276 /*-----------------------------------------------------------*/
\r
2278 #if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
\r
2280 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2282 xTaskHandle xReturn;
\r
2284 /* A critical section is not required as this is not called from
\r
2285 an interrupt and the current TCB will always be the same for any
\r
2286 individual execution thread. */
\r
2287 xReturn = pxCurrentTCB;
\r
2294 /*-----------------------------------------------------------*/
\r
2296 #if ( INCLUDE_xTaskGetSchedulerState == 1 )
\r
2298 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2300 portBASE_TYPE xReturn;
\r
2302 if( xSchedulerRunning == pdFALSE )
\r
2304 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2308 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2310 xReturn = taskSCHEDULER_RUNNING;
\r
2314 xReturn = taskSCHEDULER_SUSPENDED;
\r
2322 /*-----------------------------------------------------------*/
\r
2324 #if ( configUSE_MUTEXES == 1 )
\r
2326 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2328 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2330 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2332 /* Adjust the mutex holder state to account for its new priority. */
\r
2333 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2335 /* If the task being modified is in the ready state it will need to
\r
2336 be moved in to a new list. */
\r
2337 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
2339 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2341 /* Inherit the priority before being moved into the new list. */
\r
2342 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2343 prvAddTaskToReadyQueue( pxTCB );
\r
2347 /* Just inherit the priority. */
\r
2348 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2354 /*-----------------------------------------------------------*/
\r
2356 #if ( configUSE_MUTEXES == 1 )
\r
2358 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2360 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2362 if( pxMutexHolder != NULL )
\r
2364 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2366 /* We must be the running task to be able to give the mutex back.
\r
2367 Remove ourselves from the ready list we currently appear in. */
\r
2368 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2370 /* Disinherit the priority before adding ourselves into the new
\r
2372 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2373 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2374 prvAddTaskToReadyQueue( pxTCB );
\r
2380 /*-----------------------------------------------------------*/
\r
2382 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2384 void vTaskEnterCritical( void )
\r
2386 portDISABLE_INTERRUPTS();
\r
2388 if( xSchedulerRunning != pdFALSE )
\r
2390 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2395 /*-----------------------------------------------------------*/
\r
2397 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2399 void vTaskExitCritical( void )
\r
2401 if( xSchedulerRunning != pdFALSE )
\r
2403 if( pxCurrentTCB->uxCriticalNesting > 0 )
\r
2405 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2407 if( pxCurrentTCB->uxCriticalNesting == 0 )
\r
2409 portENABLE_INTERRUPTS();
\r
2416 /*-----------------------------------------------------------*/
\r
projects / freertos / blob