2 FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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4 ***************************************************************************
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8 * + New to FreeRTOS, *
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9 * + Wanting to learn FreeRTOS or multitasking in general quickly *
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10 * + Looking for basic training, *
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11 * + Wanting to improve your FreeRTOS skills and productivity *
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13 * then take a look at the FreeRTOS books - available as PDF or paperback *
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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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67 #include "StackMacros.h"
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69 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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72 * Macro to define the amount of stack available to the idle task.
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74 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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77 * Task control block. A task control block (TCB) is allocated to each task,
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78 * and stores the context of the task.
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80 typedef struct tskTaskControlBlock
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82 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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84 #if ( portUSING_MPU_WRAPPERS == 1 )
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85 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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88 xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
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89 xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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90 unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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91 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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92 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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94 #if ( portSTACK_GROWTH > 0 )
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95 portSTACK_TYPE *pxEndOfStack; /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
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98 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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99 unsigned portBASE_TYPE uxCriticalNesting;
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102 #if ( configUSE_TRACE_FACILITY == 1 )
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103 unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
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106 #if ( configUSE_MUTEXES == 1 )
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107 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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110 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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111 pdTASK_HOOK_CODE pxTaskTag;
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114 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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115 unsigned long ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
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122 * Some kernel aware debuggers require data to be viewed to be global, rather
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125 #ifdef portREMOVE_STATIC_QUALIFIER
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130 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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132 /* Lists for ready and blocked tasks. --------------------*/
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134 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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135 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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136 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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137 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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138 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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139 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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141 #if ( INCLUDE_vTaskDelete == 1 )
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143 PRIVILEGED_DATA static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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144 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
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148 #if ( INCLUDE_vTaskSuspend == 1 )
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150 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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154 /* File private variables. --------------------------------*/
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155 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
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156 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0;
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157 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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158 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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159 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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160 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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161 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
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162 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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163 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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164 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0;
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165 PRIVILEGED_DATA static portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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167 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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169 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
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170 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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171 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
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175 /* Debugging and trace facilities private variables and macros. ------------*/
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178 * The value used to fill the stack of a task when the task is created. This
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179 * is used purely for checking the high water mark for tasks.
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181 #define tskSTACK_FILL_BYTE ( 0xa5U )
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184 * Macros used by vListTask to indicate which state a task is in.
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186 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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187 #define tskREADY_CHAR ( ( signed char ) 'R' )
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188 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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189 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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192 * Macros and private variables used by the trace facility.
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194 #if ( configUSE_TRACE_FACILITY == 1 )
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196 #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned long ) ( sizeof( unsigned long ) + sizeof( unsigned long ) ) )
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197 PRIVILEGED_DATA static volatile signed char * volatile pcTraceBuffer;
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198 PRIVILEGED_DATA static signed char *pcTraceBufferStart;
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199 PRIVILEGED_DATA static signed char *pcTraceBufferEnd;
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200 PRIVILEGED_DATA static signed portBASE_TYPE xTracing = pdFALSE;
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201 static unsigned portBASE_TYPE uxPreviousTask = 255U;
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202 PRIVILEGED_DATA static char pcStatusString[ 50 ];
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206 /*-----------------------------------------------------------*/
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209 * Macro that writes a trace of scheduler activity to a buffer. This trace
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210 * shows which task is running when and is very useful as a debugging tool.
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211 * As this macro is called each context switch it is a good idea to undefine
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212 * it if not using the facility.
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214 #if ( configUSE_TRACE_FACILITY == 1 )
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216 #define vWriteTraceToBuffer() \
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220 if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
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222 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
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224 uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
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225 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) xTickCount; \
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226 pcTraceBuffer += sizeof( unsigned long ); \
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227 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) uxPreviousTask; \
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228 pcTraceBuffer += sizeof( unsigned long ); \
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232 xTracing = pdFALSE; \
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240 #define vWriteTraceToBuffer()
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243 /*-----------------------------------------------------------*/
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246 * Place the task represented by pxTCB into the appropriate ready queue for
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247 * the task. It is inserted at the end of the list. One quirk of this is
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248 * that if the task being inserted is at the same priority as the currently
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249 * executing task, then it will only be rescheduled after the currently
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250 * executing task has been rescheduled.
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252 #define prvAddTaskToReadyQueue( pxTCB ) \
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253 if( ( pxTCB )->uxPriority > uxTopReadyPriority ) \
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255 uxTopReadyPriority = ( pxTCB )->uxPriority; \
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257 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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271 portTickType xItemValue; \
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273 /* Is the tick count greater than or equal to the wake time of the first \
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274 task referenced from the delayed tasks list? */ \
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275 if( xTickCount >= xNextTaskUnblockTime ) \
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279 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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281 /* The delayed list is empty. Set xNextTaskUnblockTime to the \
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282 maximum possible value so it is extremely unlikely that the \
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283 if( xTickCount >= xNextTaskUnblockTime ) test will pass next \
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285 xNextTaskUnblockTime = portMAX_DELAY; \
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290 /* The delayed list is not empty, get the value of the item at \
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291 the head of the delayed list. This is the time at which the \
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292 task at the head of the delayed list should be removed from \
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293 the Blocked state. */ \
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294 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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295 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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297 if( xTickCount < xItemValue ) \
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299 /* It is not time to unblock this item yet, but the item \
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300 value is the time at which the task at the head of the \
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301 blocked list should be removed from the Blocked state - \
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302 so record the item value in xNextTaskUnblockTime. */ \
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303 xNextTaskUnblockTime = xItemValue; \
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307 /* It is time to remove the item from the Blocked state. */ \
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308 vListRemove( &( pxTCB->xGenericListItem ) ); \
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310 /* Is the task waiting on an event also? */ \
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311 if( pxTCB->xEventListItem.pvContainer ) \
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313 vListRemove( &( pxTCB->xEventListItem ) ); \
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315 prvAddTaskToReadyQueue( pxTCB ); \
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320 /*-----------------------------------------------------------*/
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323 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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324 * where NULL is used to indicate that the handle of the currently executing
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325 * task should be used in place of the parameter. This macro simply checks to
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326 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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328 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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330 /* Callback function prototypes. --------------------------*/
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331 extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );
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333 /* File private functions. --------------------------------*/
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336 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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337 * into the TCB structure.
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339 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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342 * Utility to ready all the lists used by the scheduler. This is called
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343 * automatically upon the creation of the first task.
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345 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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348 * The idle task, which as all tasks is implemented as a never ending loop.
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349 * The idle task is automatically created and added to the ready lists upon
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350 * creation of the first user task.
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352 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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353 * language extensions. The equivalent prototype for this function is:
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355 * void prvIdleTask( void *pvParameters );
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358 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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361 * Utility to free all memory allocated by the scheduler to hold a TCB,
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362 * including the stack pointed to by the TCB.
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364 * This does not free memory allocated by the task itself (i.e. memory
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365 * allocated by calls to pvPortMalloc from within the tasks application code).
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367 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
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369 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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374 * Used only by the idle task. This checks to see if anything has been placed
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375 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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376 * and its TCB deleted.
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378 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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381 * The currently executing task is entering the Blocked state. Add the task to
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382 * either the current or the overflow delayed task list.
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384 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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387 * Allocates memory from the heap for a TCB and associated stack. Checks the
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388 * allocation was successful.
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390 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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393 * Called from vTaskList. vListTasks details all the tasks currently under
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394 * control of the scheduler. The tasks may be in one of a number of lists.
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395 * prvListTaskWithinSingleList accepts a list and details the tasks from
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396 * within just that list.
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398 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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399 * NORMAL APPLICATION CODE.
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401 #if ( configUSE_TRACE_FACILITY == 1 )
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403 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
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408 * When a task is created, the stack of the task is filled with a known value.
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409 * This function determines the 'high water mark' of the task stack by
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410 * determining how much of the stack remains at the original preset value.
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412 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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414 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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423 /*-----------------------------------------------------------
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424 * TASK CREATION API documented in task.h
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425 *----------------------------------------------------------*/
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427 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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429 signed portBASE_TYPE xReturn;
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432 configASSERT( pxTaskCode );
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433 configASSERT( ( uxPriority < configMAX_PRIORITIES ) );
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435 /* Allocate the memory required by the TCB and stack for the new task,
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436 checking that the allocation was successful. */
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437 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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439 if( pxNewTCB != NULL )
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441 portSTACK_TYPE *pxTopOfStack;
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443 #if( portUSING_MPU_WRAPPERS == 1 )
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444 /* Should the task be created in privileged mode? */
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445 portBASE_TYPE xRunPrivileged;
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446 if( ( uxPriority & portPRIVILEGE_BIT ) != 0x00 )
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448 xRunPrivileged = pdTRUE;
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452 xRunPrivileged = pdFALSE;
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454 uxPriority &= ~portPRIVILEGE_BIT;
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455 #endif /* portUSING_MPU_WRAPPERS == 1 */
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457 /* Calculate the top of stack address. This depends on whether the
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458 stack grows from high memory to low (as per the 80x86) or visa versa.
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459 portSTACK_GROWTH is used to make the result positive or negative as
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460 required by the port. */
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461 #if( portSTACK_GROWTH < 0 )
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463 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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464 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( unsigned long ) pxTopOfStack ) & ( ( unsigned long ) ~portBYTE_ALIGNMENT_MASK ) );
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466 /* Check the alignment of the calculated top of stack is correct. */
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467 configASSERT( !( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) );
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471 pxTopOfStack = pxNewTCB->pxStack;
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473 /* Check the alignment of the stack buffer is correct. */
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474 configASSERT( !( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) );
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476 /* If we want to use stack checking on architectures that use
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477 a positive stack growth direction then we also need to store the
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478 other extreme of the stack space. */
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479 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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483 /* Setup the newly allocated TCB with the initial state of the task. */
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484 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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486 /* Initialize the TCB stack to look as if the task was already running,
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487 but had been interrupted by the scheduler. The return address is set
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488 to the start of the task function. Once the stack has been initialised
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489 the top of stack variable is updated. */
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490 #if( portUSING_MPU_WRAPPERS == 1 )
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492 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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496 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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500 /* Check the alignment of the initialised stack. */
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501 configASSERT( !( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) );
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503 if( ( void * ) pxCreatedTask != NULL )
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505 /* Pass the TCB out - in an anonymous way. The calling function/
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506 task can use this as a handle to delete the task later if
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508 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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511 /* We are going to manipulate the task queues to add this task to a
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512 ready list, so must make sure no interrupts occur. */
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513 taskENTER_CRITICAL();
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515 uxCurrentNumberOfTasks++;
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516 if( pxCurrentTCB == NULL )
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518 /* There are no other tasks, or all the other tasks are in
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519 the suspended state - make this the current task. */
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520 pxCurrentTCB = pxNewTCB;
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522 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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524 /* This is the first task to be created so do the preliminary
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525 initialisation required. We will not recover if this call
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526 fails, but we will report the failure. */
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527 prvInitialiseTaskLists();
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532 /* If the scheduler is not already running, make this task the
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533 current task if it is the highest priority task to be created
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535 if( xSchedulerRunning == pdFALSE )
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537 if( pxCurrentTCB->uxPriority <= uxPriority )
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539 pxCurrentTCB = pxNewTCB;
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544 /* Remember the top priority to make context switching faster. Use
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545 the priority in pxNewTCB as this has been capped to a valid value. */
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546 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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548 uxTopUsedPriority = pxNewTCB->uxPriority;
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551 #if ( configUSE_TRACE_FACILITY == 1 )
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553 /* Add a counter into the TCB for tracing only. */
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554 pxNewTCB->uxTCBNumber = uxTaskNumber;
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559 prvAddTaskToReadyQueue( pxNewTCB );
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562 traceTASK_CREATE( pxNewTCB );
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564 taskEXIT_CRITICAL();
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568 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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569 traceTASK_CREATE_FAILED();
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572 if( xReturn == pdPASS )
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574 if( xSchedulerRunning != pdFALSE )
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576 /* If the created task is of a higher priority than the current task
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577 then it should run now. */
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578 if( pxCurrentTCB->uxPriority < uxPriority )
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580 portYIELD_WITHIN_API();
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587 /*-----------------------------------------------------------*/
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589 #if ( INCLUDE_vTaskDelete == 1 )
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591 void vTaskDelete( xTaskHandle pxTaskToDelete )
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595 taskENTER_CRITICAL();
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597 /* Ensure a yield is performed if the current task is being
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599 if( pxTaskToDelete == pxCurrentTCB )
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601 pxTaskToDelete = NULL;
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604 /* If null is passed in here then we are deleting ourselves. */
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605 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
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607 /* Remove task from the ready list and place in the termination list.
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608 This will stop the task from be scheduled. The idle task will check
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609 the termination list and free up any memory allocated by the
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610 scheduler for the TCB and stack. */
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611 vListRemove( &( pxTCB->xGenericListItem ) );
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613 /* Is the task waiting on an event also? */
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614 if( pxTCB->xEventListItem.pvContainer )
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616 vListRemove( &( pxTCB->xEventListItem ) );
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619 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
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621 /* Increment the ucTasksDeleted variable so the idle task knows
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622 there is a task that has been deleted and that it should therefore
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623 check the xTasksWaitingTermination list. */
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626 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
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627 can detect that the task lists need re-generating. */
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630 traceTASK_DELETE( pxTCB );
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632 taskEXIT_CRITICAL();
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634 /* Force a reschedule if we have just deleted the current task. */
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635 if( xSchedulerRunning != pdFALSE )
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637 if( ( void * ) pxTaskToDelete == NULL )
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639 portYIELD_WITHIN_API();
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651 /*-----------------------------------------------------------
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652 * TASK CONTROL API documented in task.h
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653 *----------------------------------------------------------*/
\r
655 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
657 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
659 portTickType xTimeToWake;
\r
660 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
662 configASSERT( pxPreviousWakeTime );
\r
663 configASSERT( ( xTimeIncrement > 0 ) );
\r
667 /* Generate the tick time at which the task wants to wake. */
\r
668 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
670 if( xTickCount < *pxPreviousWakeTime )
\r
672 /* The tick count has overflowed since this function was
\r
673 lasted called. In this case the only time we should ever
\r
674 actually delay is if the wake time has also overflowed,
\r
675 and the wake time is greater than the tick time. When this
\r
676 is the case it is as if neither time had overflowed. */
\r
677 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
679 xShouldDelay = pdTRUE;
\r
684 /* The tick time has not overflowed. In this case we will
\r
685 delay if either the wake time has overflowed, and/or the
\r
686 tick time is less than the wake time. */
\r
687 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
689 xShouldDelay = pdTRUE;
\r
693 /* Update the wake time ready for the next call. */
\r
694 *pxPreviousWakeTime = xTimeToWake;
\r
696 if( xShouldDelay != pdFALSE )
\r
698 traceTASK_DELAY_UNTIL();
\r
700 /* We must remove ourselves from the ready list before adding
\r
701 ourselves to the blocked list as the same list item is used for
\r
703 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
704 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
707 xAlreadyYielded = xTaskResumeAll();
\r
709 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
710 have put ourselves to sleep. */
\r
711 if( !xAlreadyYielded )
\r
713 portYIELD_WITHIN_API();
\r
718 /*-----------------------------------------------------------*/
\r
720 #if ( INCLUDE_vTaskDelay == 1 )
\r
722 void vTaskDelay( portTickType xTicksToDelay )
\r
724 portTickType xTimeToWake;
\r
725 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
727 /* A delay time of zero just forces a reschedule. */
\r
728 if( xTicksToDelay > ( portTickType ) 0 )
\r
734 /* A task that is removed from the event list while the
\r
735 scheduler is suspended will not get placed in the ready
\r
736 list or removed from the blocked list until the scheduler
\r
739 This task cannot be in an event list as it is the currently
\r
742 /* Calculate the time to wake - this may overflow but this is
\r
744 xTimeToWake = xTickCount + xTicksToDelay;
\r
746 /* We must remove ourselves from the ready list before adding
\r
747 ourselves to the blocked list as the same list item is used for
\r
749 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
750 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
752 xAlreadyYielded = xTaskResumeAll();
\r
755 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
756 have put ourselves to sleep. */
\r
757 if( !xAlreadyYielded )
\r
759 portYIELD_WITHIN_API();
\r
764 /*-----------------------------------------------------------*/
\r
766 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
768 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
771 unsigned portBASE_TYPE uxReturn;
\r
773 taskENTER_CRITICAL();
\r
775 /* If null is passed in here then we are changing the
\r
776 priority of the calling function. */
\r
777 pxTCB = prvGetTCBFromHandle( pxTask );
\r
778 uxReturn = pxTCB->uxPriority;
\r
780 taskEXIT_CRITICAL();
\r
786 /*-----------------------------------------------------------*/
\r
788 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
790 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
793 unsigned portBASE_TYPE uxCurrentPriority;
\r
794 portBASE_TYPE xYieldRequired = pdFALSE;
\r
796 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
798 /* Ensure the new priority is valid. */
\r
799 if( uxNewPriority >= configMAX_PRIORITIES )
\r
801 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
804 taskENTER_CRITICAL();
\r
806 if( pxTask == pxCurrentTCB )
\r
811 /* If null is passed in here then we are changing the
\r
812 priority of the calling function. */
\r
813 pxTCB = prvGetTCBFromHandle( pxTask );
\r
815 traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
\r
817 #if ( configUSE_MUTEXES == 1 )
\r
819 uxCurrentPriority = pxTCB->uxBasePriority;
\r
823 uxCurrentPriority = pxTCB->uxPriority;
\r
827 if( uxCurrentPriority != uxNewPriority )
\r
829 /* The priority change may have readied a task of higher
\r
830 priority than the calling task. */
\r
831 if( uxNewPriority > uxCurrentPriority )
\r
833 if( pxTask != NULL )
\r
835 /* The priority of another task is being raised. If we
\r
836 were raising the priority of the currently running task
\r
837 there would be no need to switch as it must have already
\r
838 been the highest priority task. */
\r
839 xYieldRequired = pdTRUE;
\r
842 else if( pxTask == NULL )
\r
844 /* Setting our own priority down means there may now be another
\r
845 task of higher priority that is ready to execute. */
\r
846 xYieldRequired = pdTRUE;
\r
851 #if ( configUSE_MUTEXES == 1 )
\r
853 /* Only change the priority being used if the task is not
\r
854 currently using an inherited priority. */
\r
855 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
857 pxTCB->uxPriority = uxNewPriority;
\r
860 /* The base priority gets set whatever. */
\r
861 pxTCB->uxBasePriority = uxNewPriority;
\r
865 pxTCB->uxPriority = uxNewPriority;
\r
869 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
871 /* If the task is in the blocked or suspended list we need do
\r
872 nothing more than change it's priority variable. However, if
\r
873 the task is in a ready list it needs to be removed and placed
\r
874 in the queue appropriate to its new priority. */
\r
875 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
877 /* The task is currently in its ready list - remove before adding
\r
878 it to it's new ready list. As we are in a critical section we
\r
879 can do this even if the scheduler is suspended. */
\r
880 vListRemove( &( pxTCB->xGenericListItem ) );
\r
881 prvAddTaskToReadyQueue( pxTCB );
\r
884 if( xYieldRequired == pdTRUE )
\r
886 portYIELD_WITHIN_API();
\r
890 taskEXIT_CRITICAL();
\r
894 /*-----------------------------------------------------------*/
\r
896 #if ( INCLUDE_vTaskSuspend == 1 )
\r
898 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
902 taskENTER_CRITICAL();
\r
904 /* Ensure a yield is performed if the current task is being
\r
906 if( pxTaskToSuspend == pxCurrentTCB )
\r
908 pxTaskToSuspend = NULL;
\r
911 /* If null is passed in here then we are suspending ourselves. */
\r
912 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
914 traceTASK_SUSPEND( pxTCB );
\r
916 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
917 vListRemove( &( pxTCB->xGenericListItem ) );
\r
919 /* Is the task waiting on an event also? */
\r
920 if( pxTCB->xEventListItem.pvContainer )
\r
922 vListRemove( &( pxTCB->xEventListItem ) );
\r
925 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
927 taskEXIT_CRITICAL();
\r
929 if( ( void * ) pxTaskToSuspend == NULL )
\r
931 if( xSchedulerRunning != pdFALSE )
\r
933 /* We have just suspended the current task. */
\r
934 portYIELD_WITHIN_API();
\r
938 /* The scheduler is not running, but the task that was pointed
\r
939 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
940 must be adjusted to point to a different task. */
\r
941 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1U )
\r
943 /* No other tasks are defined, so set pxCurrentTCB back to
\r
944 NULL so when the next task is created pxCurrentTCB will
\r
945 be set to point to it no matter what its relative priority
\r
947 pxCurrentTCB = NULL;
\r
951 vTaskSwitchContext();
\r
958 /*-----------------------------------------------------------*/
\r
960 #if ( INCLUDE_vTaskSuspend == 1 )
\r
962 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
964 portBASE_TYPE xReturn = pdFALSE;
\r
965 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
967 /* It does not make sense to check if the calling task is suspended. */
\r
968 configASSERT( xTask );
\r
970 /* Is the task we are attempting to resume actually in the
\r
972 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
974 /* Has the task already been resumed from within an ISR? */
\r
975 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
977 /* Is it in the suspended list because it is in the
\r
978 Suspended state? It is possible to be in the suspended
\r
979 list because it is blocked on a task with no timeout
\r
981 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
992 /*-----------------------------------------------------------*/
\r
994 #if ( INCLUDE_vTaskSuspend == 1 )
\r
996 void vTaskResume( xTaskHandle pxTaskToResume )
\r
1000 /* It does not make sense to resume the calling task. */
\r
1001 configASSERT( pxTaskToResume );
\r
1003 /* Remove the task from whichever list it is currently in, and place
\r
1004 it in the ready list. */
\r
1005 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1007 /* The parameter cannot be NULL as it is impossible to resume the
\r
1008 currently executing task. */
\r
1009 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1011 taskENTER_CRITICAL();
\r
1013 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1015 traceTASK_RESUME( pxTCB );
\r
1017 /* As we are in a critical section we can access the ready
\r
1018 lists even if the scheduler is suspended. */
\r
1019 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1020 prvAddTaskToReadyQueue( pxTCB );
\r
1022 /* We may have just resumed a higher priority task. */
\r
1023 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1025 /* This yield may not cause the task just resumed to run, but
\r
1026 will leave the lists in the correct state for the next yield. */
\r
1027 portYIELD_WITHIN_API();
\r
1031 taskEXIT_CRITICAL();
\r
1037 /*-----------------------------------------------------------*/
\r
1039 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1041 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
1043 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1046 configASSERT( pxTaskToResume );
\r
1048 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1050 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1052 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1054 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1056 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1057 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1058 prvAddTaskToReadyQueue( pxTCB );
\r
1062 /* We cannot access the delayed or ready lists, so will hold this
\r
1063 task pending until the scheduler is resumed, at which point a
\r
1064 yield will be performed if necessary. */
\r
1065 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1069 return xYieldRequired;
\r
1077 /*-----------------------------------------------------------
\r
1078 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1079 *----------------------------------------------------------*/
\r
1082 void vTaskStartScheduler( void )
\r
1084 portBASE_TYPE xReturn;
\r
1086 /* Add the idle task at the lowest priority. */
\r
1087 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), ( xTaskHandle * ) NULL );
\r
1089 #if ( configUSE_TIMERS == 1 )
\r
1091 if( xReturn == pdPASS )
\r
1093 xReturn = xTimerCreateTimerTask();
\r
1098 if( xReturn == pdPASS )
\r
1100 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1101 before or during the call to xPortStartScheduler(). The stacks of
\r
1102 the created tasks contain a status word with interrupts switched on
\r
1103 so interrupts will automatically get re-enabled when the first task
\r
1106 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1107 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1108 portDISABLE_INTERRUPTS();
\r
1110 xSchedulerRunning = pdTRUE;
\r
1111 xTickCount = ( portTickType ) 0;
\r
1113 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1114 macro must be defined to configure the timer/counter used to generate
\r
1115 the run time counter time base. */
\r
1116 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1118 /* Setting up the timer tick is hardware specific and thus in the
\r
1119 portable interface. */
\r
1120 if( xPortStartScheduler() )
\r
1122 /* Should not reach here as if the scheduler is running the
\r
1123 function will not return. */
\r
1127 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1131 /* This line will only be reached if the kernel could not be started. */
\r
1132 configASSERT( xReturn );
\r
1134 /*-----------------------------------------------------------*/
\r
1136 void vTaskEndScheduler( void )
\r
1138 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1139 routine so the original ISRs can be restored if necessary. The port
\r
1140 layer must ensure interrupts enable bit is left in the correct state. */
\r
1141 portDISABLE_INTERRUPTS();
\r
1142 xSchedulerRunning = pdFALSE;
\r
1143 vPortEndScheduler();
\r
1145 /*----------------------------------------------------------*/
\r
1147 void vTaskSuspendAll( void )
\r
1149 /* A critical section is not required as the variable is of type
\r
1151 ++uxSchedulerSuspended;
\r
1153 /*----------------------------------------------------------*/
\r
1155 signed portBASE_TYPE xTaskResumeAll( void )
\r
1157 register tskTCB *pxTCB;
\r
1158 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1160 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1161 previous call to vTaskSuspendAll(). */
\r
1162 configASSERT( uxSchedulerSuspended );
\r
1164 /* It is possible that an ISR caused a task to be removed from an event
\r
1165 list while the scheduler was suspended. If this was the case then the
\r
1166 removed task will have been added to the xPendingReadyList. Once the
\r
1167 scheduler has been resumed it is safe to move all the pending ready
\r
1168 tasks from this list into their appropriate ready list. */
\r
1169 taskENTER_CRITICAL();
\r
1171 --uxSchedulerSuspended;
\r
1173 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1175 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
\r
1177 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1179 /* Move any readied tasks from the pending list into the
\r
1180 appropriate ready list. */
\r
1181 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1183 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1184 vListRemove( &( pxTCB->xEventListItem ) );
\r
1185 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1186 prvAddTaskToReadyQueue( pxTCB );
\r
1188 /* If we have moved a task that has a priority higher than
\r
1189 the current task then we should yield. */
\r
1190 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1192 xYieldRequired = pdTRUE;
\r
1196 /* If any ticks occurred while the scheduler was suspended then
\r
1197 they should be processed now. This ensures the tick count does not
\r
1198 slip, and that any delayed tasks are resumed at the correct time. */
\r
1199 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1201 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1203 vTaskIncrementTick();
\r
1207 /* As we have processed some ticks it is appropriate to yield
\r
1208 to ensure the highest priority task that is ready to run is
\r
1209 the task actually running. */
\r
1210 #if configUSE_PREEMPTION == 1
\r
1212 xYieldRequired = pdTRUE;
\r
1217 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1219 xAlreadyYielded = pdTRUE;
\r
1220 xMissedYield = pdFALSE;
\r
1221 portYIELD_WITHIN_API();
\r
1226 taskEXIT_CRITICAL();
\r
1228 return xAlreadyYielded;
\r
1236 /*-----------------------------------------------------------
\r
1237 * PUBLIC TASK UTILITIES documented in task.h
\r
1238 *----------------------------------------------------------*/
\r
1242 portTickType xTaskGetTickCount( void )
\r
1244 portTickType xTicks;
\r
1246 /* Critical section required if running on a 16 bit processor. */
\r
1247 taskENTER_CRITICAL();
\r
1249 xTicks = xTickCount;
\r
1251 taskEXIT_CRITICAL();
\r
1255 /*-----------------------------------------------------------*/
\r
1257 portTickType xTaskGetTickCountFromISR( void )
\r
1259 portTickType xReturn;
\r
1260 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1262 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1263 xReturn = xTickCount;
\r
1264 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1268 /*-----------------------------------------------------------*/
\r
1270 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1272 /* A critical section is not required because the variables are of type
\r
1274 return uxCurrentNumberOfTasks;
\r
1276 /*-----------------------------------------------------------*/
\r
1278 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1280 void vTaskList( signed char *pcWriteBuffer )
\r
1282 unsigned portBASE_TYPE uxQueue;
\r
1284 /* This is a VERY costly function that should be used for debug only.
\r
1285 It leaves interrupts disabled for a LONG time. */
\r
1287 vTaskSuspendAll();
\r
1289 /* Run through all the lists that could potentially contain a TCB and
\r
1290 report the task name, state and stack high water mark. */
\r
1292 *pcWriteBuffer = ( signed char ) 0x00;
\r
1293 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1295 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1301 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1303 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1305 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1307 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1309 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1312 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1314 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1317 #if( INCLUDE_vTaskDelete == 1 )
\r
1319 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1321 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1326 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1328 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1330 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1339 /*----------------------------------------------------------*/
\r
1341 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1343 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1345 unsigned portBASE_TYPE uxQueue;
\r
1346 unsigned long ulTotalRunTime;
\r
1348 /* This is a VERY costly function that should be used for debug only.
\r
1349 It leaves interrupts disabled for a LONG time. */
\r
1351 vTaskSuspendAll();
\r
1353 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1354 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1356 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1359 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1360 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1361 ulTotalRunTime /= 100UL;
\r
1363 /* Run through all the lists that could potentially contain a TCB,
\r
1364 generating a table of run timer percentages in the provided
\r
1367 *pcWriteBuffer = ( signed char ) 0x00;
\r
1368 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1370 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1376 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1378 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
\r
1380 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1382 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1384 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
\r
1387 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1389 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
\r
1392 #if ( INCLUDE_vTaskDelete == 1 )
\r
1394 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1396 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, ulTotalRunTime );
\r
1401 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1403 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1405 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, ulTotalRunTime );
\r
1414 /*----------------------------------------------------------*/
\r
1416 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1418 void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize )
\r
1420 configASSERT( pcBuffer );
\r
1421 configASSERT( ulBufferSize );
\r
1423 taskENTER_CRITICAL();
\r
1425 pcTraceBuffer = ( signed char * )pcBuffer;
\r
1426 pcTraceBufferStart = pcBuffer;
\r
1427 pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
\r
1428 xTracing = pdTRUE;
\r
1430 taskEXIT_CRITICAL();
\r
1434 /*----------------------------------------------------------*/
\r
1436 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1438 unsigned long ulTaskEndTrace( void )
\r
1440 unsigned long ulBufferLength;
\r
1442 taskENTER_CRITICAL();
\r
1443 xTracing = pdFALSE;
\r
1444 taskEXIT_CRITICAL();
\r
1446 ulBufferLength = ( unsigned long ) ( pcTraceBuffer - pcTraceBufferStart );
\r
1448 return ulBufferLength;
\r
1455 /*-----------------------------------------------------------
\r
1456 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1457 * documented in task.h
\r
1458 *----------------------------------------------------------*/
\r
1461 void vTaskIncrementTick( void )
\r
1463 /* Called by the portable layer each time a tick interrupt occurs.
\r
1464 Increments the tick then checks to see if the new tick value will cause any
\r
1465 tasks to be unblocked. */
\r
1466 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1469 if( xTickCount == ( portTickType ) 0 )
\r
1473 /* Tick count has overflowed so we need to swap the delay lists.
\r
1474 If there are any items in pxDelayedTaskList here then there is
\r
1476 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );
\r
1478 pxTemp = pxDelayedTaskList;
\r
1479 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1480 pxOverflowDelayedTaskList = pxTemp;
\r
1481 xNumOfOverflows++;
\r
1483 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1485 /* The delayed list is empty. Set xNextTaskUnblockTime to the
\r
1486 maximum possible value so it is extremely unlikely that the
\r
1487 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1488 until there is an item in the delayed list. */
\r
1489 xNextTaskUnblockTime = portMAX_DELAY;
\r
1495 /* The delayed list is not empty, get the value of the item at
\r
1496 the head of the delayed list. This is the time at which the
\r
1497 task at the head of the delayed list should be removed from
\r
1498 the Blocked state. */
\r
1499 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1500 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1504 /* See if this tick has made a timeout expire. */
\r
1505 prvCheckDelayedTasks();
\r
1511 /* The tick hook gets called at regular intervals, even if the
\r
1512 scheduler is locked. */
\r
1513 #if ( configUSE_TICK_HOOK == 1 )
\r
1515 extern void vApplicationTickHook( void );
\r
1517 vApplicationTickHook();
\r
1522 #if ( configUSE_TICK_HOOK == 1 )
\r
1524 extern void vApplicationTickHook( void );
\r
1526 /* Guard against the tick hook being called when the missed tick
\r
1527 count is being unwound (when the scheduler is being unlocked. */
\r
1528 if( uxMissedTicks == 0 )
\r
1530 vApplicationTickHook();
\r
1535 traceTASK_INCREMENT_TICK( xTickCount );
\r
1537 /*-----------------------------------------------------------*/
\r
1539 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1541 void vTaskCleanUpResources( void )
\r
1543 unsigned short usQueue;
\r
1544 volatile tskTCB *pxTCB;
\r
1546 usQueue = ( unsigned short ) uxTopUsedPriority + ( unsigned short ) 1;
\r
1548 /* Remove any TCB's from the ready queues. */
\r
1553 while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
\r
1555 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
\r
1556 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1558 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1560 }while( usQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1562 /* Remove any TCB's from the delayed queue. */
\r
1563 while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
\r
1565 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
\r
1566 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1568 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1571 /* Remove any TCB's from the overflow delayed queue. */
\r
1572 while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
\r
1574 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
\r
1575 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1577 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1580 while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1582 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
\r
1583 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1585 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1590 /*-----------------------------------------------------------*/
\r
1592 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1594 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue )
\r
1598 /* If xTask is NULL then we are setting our own task hook. */
\r
1599 if( xTask == NULL )
\r
1601 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1605 xTCB = ( tskTCB * ) xTask;
\r
1608 /* Save the hook function in the TCB. A critical section is required as
\r
1609 the value can be accessed from an interrupt. */
\r
1610 taskENTER_CRITICAL();
\r
1611 xTCB->pxTaskTag = pxTagValue;
\r
1612 taskEXIT_CRITICAL();
\r
1616 /*-----------------------------------------------------------*/
\r
1618 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1620 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1623 pdTASK_HOOK_CODE xReturn;
\r
1625 /* If xTask is NULL then we are setting our own task hook. */
\r
1626 if( xTask == NULL )
\r
1628 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1632 xTCB = ( tskTCB * ) xTask;
\r
1635 /* Save the hook function in the TCB. A critical section is required as
\r
1636 the value can be accessed from an interrupt. */
\r
1637 taskENTER_CRITICAL();
\r
1638 xReturn = xTCB->pxTaskTag;
\r
1639 taskEXIT_CRITICAL();
\r
1645 /*-----------------------------------------------------------*/
\r
1647 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1649 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1652 portBASE_TYPE xReturn;
\r
1654 /* If xTask is NULL then we are calling our own task hook. */
\r
1655 if( xTask == NULL )
\r
1657 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1661 xTCB = ( tskTCB * ) xTask;
\r
1664 if( xTCB->pxTaskTag != NULL )
\r
1666 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1677 /*-----------------------------------------------------------*/
\r
1679 void vTaskSwitchContext( void )
\r
1681 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1683 /* The scheduler is currently suspended - do not allow a context
\r
1685 xMissedYield = pdTRUE;
\r
1689 traceTASK_SWITCHED_OUT();
\r
1691 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1693 unsigned long ulTempCounter;
\r
1695 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1696 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter );
\r
1698 ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
\r
1701 /* Add the amount of time the task has been running to the accumulated
\r
1702 time so far. The time the task started running was stored in
\r
1703 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1704 so count values are only valid until the timer overflows. Generally
\r
1705 this will be about 1 hour assuming a 1uS timer increment. */
\r
1706 pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
\r
1707 ulTaskSwitchedInTime = ulTempCounter;
\r
1711 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1712 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1714 /* Find the highest priority queue that contains ready tasks. */
\r
1715 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1717 configASSERT( uxTopReadyPriority );
\r
1718 --uxTopReadyPriority;
\r
1721 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1722 same priority get an equal share of the processor time. */
\r
1723 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1725 traceTASK_SWITCHED_IN();
\r
1726 vWriteTraceToBuffer();
\r
1729 /*-----------------------------------------------------------*/
\r
1731 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1733 portTickType xTimeToWake;
\r
1735 configASSERT( pxEventList );
\r
1737 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1738 SCHEDULER SUSPENDED. */
\r
1740 /* Place the event list item of the TCB in the appropriate event list.
\r
1741 This is placed in the list in priority order so the highest priority task
\r
1742 is the first to be woken by the event. */
\r
1743 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1745 /* We must remove ourselves from the ready list before adding ourselves
\r
1746 to the blocked list as the same list item is used for both lists. We have
\r
1747 exclusive access to the ready lists as the scheduler is locked. */
\r
1748 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1751 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1753 if( xTicksToWait == portMAX_DELAY )
\r
1755 /* Add ourselves to the suspended task list instead of a delayed task
\r
1756 list to ensure we are not woken by a timing event. We will block
\r
1758 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1762 /* Calculate the time at which the task should be woken if the event does
\r
1763 not occur. This may overflow but this doesn't matter. */
\r
1764 xTimeToWake = xTickCount + xTicksToWait;
\r
1765 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1770 /* Calculate the time at which the task should be woken if the event does
\r
1771 not occur. This may overflow but this doesn't matter. */
\r
1772 xTimeToWake = xTickCount + xTicksToWait;
\r
1773 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1777 /*-----------------------------------------------------------*/
\r
1779 #if configUSE_TIMERS == 1
\r
1781 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1783 portTickType xTimeToWake;
\r
1785 configASSERT( pxEventList );
\r
1787 /* This function should not be called by application code hence the
\r
1788 'Restricted' in its name. It is not part of the public API. It is
\r
1789 designed for use by kernel code, and has special calling requirements -
\r
1790 it should be called from a critical section. */
\r
1793 /* Place the event list item of the TCB in the appropriate event list.
\r
1794 In this case it is assume that this is the only task that is going to
\r
1795 be waiting on this event list, so the faster vListInsertEnd() function
\r
1796 can be used in place of vListInsert. */
\r
1797 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1799 /* We must remove this task from the ready list before adding it to the
\r
1800 blocked list as the same list item is used for both lists. This
\r
1801 function is called form a critical section. */
\r
1802 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1804 /* Calculate the time at which the task should be woken if the event does
\r
1805 not occur. This may overflow but this doesn't matter. */
\r
1806 xTimeToWake = xTickCount + xTicksToWait;
\r
1807 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1810 #endif /* configUSE_TIMERS */
\r
1811 /*-----------------------------------------------------------*/
\r
1813 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1815 tskTCB *pxUnblockedTCB;
\r
1816 portBASE_TYPE xReturn;
\r
1818 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1819 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1821 /* The event list is sorted in priority order, so we can remove the
\r
1822 first in the list, remove the TCB from the delayed list, and add
\r
1823 it to the ready list.
\r
1825 If an event is for a queue that is locked then this function will never
\r
1826 get called - the lock count on the queue will get modified instead. This
\r
1827 means we can always expect exclusive access to the event list here.
\r
1829 This function assumes that a check has already been made to ensure that
\r
1830 pxEventList is not empty. */
\r
1831 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1832 configASSERT( pxUnblockedTCB );
\r
1833 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1835 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1837 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1838 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1842 /* We cannot access the delayed or ready lists, so will hold this
\r
1843 task pending until the scheduler is resumed. */
\r
1844 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1847 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1849 /* Return true if the task removed from the event list has
\r
1850 a higher priority than the calling task. This allows
\r
1851 the calling task to know if it should force a context
\r
1857 xReturn = pdFALSE;
\r
1862 /*-----------------------------------------------------------*/
\r
1864 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1866 configASSERT( pxTimeOut );
\r
1867 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1868 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1870 /*-----------------------------------------------------------*/
\r
1872 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1874 portBASE_TYPE xReturn;
\r
1876 configASSERT( pxTimeOut );
\r
1877 configASSERT( pxTicksToWait );
\r
1879 taskENTER_CRITICAL();
\r
1881 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1882 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1883 the maximum block time then the task should block indefinitely, and
\r
1884 therefore never time out. */
\r
1885 if( *pxTicksToWait == portMAX_DELAY )
\r
1887 xReturn = pdFALSE;
\r
1889 else /* We are not blocking indefinitely, perform the checks below. */
\r
1892 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
1894 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1895 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1896 It must have wrapped all the way around and gone past us again. This
\r
1897 passed since vTaskSetTimeout() was called. */
\r
1900 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
1902 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1903 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
1904 vTaskSetTimeOutState( pxTimeOut );
\r
1905 xReturn = pdFALSE;
\r
1912 taskEXIT_CRITICAL();
\r
1916 /*-----------------------------------------------------------*/
\r
1918 void vTaskMissedYield( void )
\r
1920 xMissedYield = pdTRUE;
\r
1924 * -----------------------------------------------------------
\r
1926 * ----------------------------------------------------------
\r
1928 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1929 * language extensions. The equivalent prototype for this function is:
\r
1931 * void prvIdleTask( void *pvParameters );
\r
1934 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1936 /* Stop warnings. */
\r
1937 ( void ) pvParameters;
\r
1941 /* See if any tasks have been deleted. */
\r
1942 prvCheckTasksWaitingTermination();
\r
1944 #if ( configUSE_PREEMPTION == 0 )
\r
1946 /* If we are not using preemption we keep forcing a task switch to
\r
1947 see if any other task has become available. If we are using
\r
1948 preemption we don't need to do this as any task becoming available
\r
1949 will automatically get the processor anyway. */
\r
1954 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1956 /* When using preemption tasks of equal priority will be
\r
1957 timesliced. If a task that is sharing the idle priority is ready
\r
1958 to run then the idle task should yield before the end of the
\r
1961 A critical region is not required here as we are just reading from
\r
1962 the list, and an occasional incorrect value will not matter. If
\r
1963 the ready list at the idle priority contains more than one task
\r
1964 then a task other than the idle task is ready to execute. */
\r
1965 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1972 #if ( configUSE_IDLE_HOOK == 1 )
\r
1974 extern void vApplicationIdleHook( void );
\r
1976 /* Call the user defined function from within the idle task. This
\r
1977 allows the application designer to add background functionality
\r
1978 without the overhead of a separate task.
\r
1979 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1980 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1981 vApplicationIdleHook();
\r
1985 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1993 /*-----------------------------------------------------------
\r
1994 * File private functions documented at the top of the file.
\r
1995 *----------------------------------------------------------*/
\r
1999 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2001 /* Store the function name in the TCB. */
\r
2002 #if configMAX_TASK_NAME_LEN > 1
\r
2004 /* Don't bring strncpy into the build unnecessarily. */
\r
2005 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
2008 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
\r
2010 /* This is used as an array index so must ensure it's not too large. First
\r
2011 remove the privilege bit if one is present. */
\r
2012 if( uxPriority >= configMAX_PRIORITIES )
\r
2014 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2017 pxTCB->uxPriority = uxPriority;
\r
2018 #if ( configUSE_MUTEXES == 1 )
\r
2020 pxTCB->uxBasePriority = uxPriority;
\r
2024 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2025 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2027 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2028 back to the containing TCB from a generic item in a list. */
\r
2029 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2031 /* Event lists are always in priority order. */
\r
2032 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
2033 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2035 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2037 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
\r
2041 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2043 pxTCB->pxTaskTag = NULL;
\r
2047 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2049 pxTCB->ulRunTimeCounter = 0UL;
\r
2053 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2055 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2059 ( void ) xRegions;
\r
2060 ( void ) usStackDepth;
\r
2064 /*-----------------------------------------------------------*/
\r
2066 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2068 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2072 configASSERT( xRegions );
\r
2074 if( xTaskToModify == pxCurrentTCB )
\r
2076 xTaskToModify = NULL;
\r
2079 /* If null is passed in here then we are deleting ourselves. */
\r
2080 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2082 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2084 /*-----------------------------------------------------------*/
\r
2087 static void prvInitialiseTaskLists( void )
\r
2089 unsigned portBASE_TYPE uxPriority;
\r
2091 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2093 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2096 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2097 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2098 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2100 #if ( INCLUDE_vTaskDelete == 1 )
\r
2102 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2106 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2108 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2112 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2114 pxDelayedTaskList = &xDelayedTaskList1;
\r
2115 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2117 /*-----------------------------------------------------------*/
\r
2119 static void prvCheckTasksWaitingTermination( void )
\r
2121 #if ( INCLUDE_vTaskDelete == 1 )
\r
2123 portBASE_TYPE xListIsEmpty;
\r
2125 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2126 too often in the idle task. */
\r
2127 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
\r
2129 vTaskSuspendAll();
\r
2130 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2133 if( xListIsEmpty == pdFALSE )
\r
2137 taskENTER_CRITICAL();
\r
2139 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2140 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2141 --uxCurrentNumberOfTasks;
\r
2144 taskEXIT_CRITICAL();
\r
2146 prvDeleteTCB( pxTCB );
\r
2152 /*-----------------------------------------------------------*/
\r
2154 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2156 /* The list item will be inserted in wake time order. */
\r
2157 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2159 if( xTimeToWake < xTickCount )
\r
2161 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2162 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2166 /* The wake time has not overflowed, so we can use the current block list. */
\r
2167 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2169 /* If the task entering the blocked state was placed at the head of the
\r
2170 list of blocked tasks then xNextTaskUnmblockTime needs to be updated
\r
2172 if( xTimeToWake < xNextTaskUnblockTime )
\r
2174 xNextTaskUnblockTime = xTimeToWake;
\r
2178 /*-----------------------------------------------------------*/
\r
2180 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2184 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2185 the implementation of the port malloc function. */
\r
2186 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2188 if( pxNewTCB != NULL )
\r
2190 /* Allocate space for the stack used by the task being created.
\r
2191 The base of the stack memory stored in the TCB so the task can
\r
2192 be deleted later if required. */
\r
2193 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2195 if( pxNewTCB->pxStack == NULL )
\r
2197 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2198 vPortFree( pxNewTCB );
\r
2203 /* Just to help debugging. */
\r
2204 memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2210 /*-----------------------------------------------------------*/
\r
2212 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2214 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2216 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2217 unsigned short usStackRemaining;
\r
2219 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2220 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2223 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2224 #if ( portSTACK_GROWTH > 0 )
\r
2226 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2230 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2234 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
2235 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2237 } while( pxNextTCB != pxFirstTCB );
\r
2241 /*-----------------------------------------------------------*/
\r
2243 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2245 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
\r
2247 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2248 unsigned long ulStatsAsPercentage;
\r
2250 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2251 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2254 /* Get next TCB in from the list. */
\r
2255 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2257 /* Divide by zero check. */
\r
2258 if( ulTotalRunTime > 0UL )
\r
2260 /* Has the task run at all? */
\r
2261 if( pxNextTCB->ulRunTimeCounter == 0 )
\r
2263 /* The task has used no CPU time at all. */
\r
2264 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2268 /* What percentage of the total run time has the task used?
\r
2269 This will always be rounded down to the nearest integer.
\r
2270 ulTotalRunTime has already been divided by 100. */
\r
2271 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime;
\r
2273 if( ulStatsAsPercentage > 0UL )
\r
2275 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2277 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2281 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2282 printf() library can be used. */
\r
2283 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2289 /* If the percentage is zero here then the task has
\r
2290 consumed less than 1% of the total run time. */
\r
2291 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2293 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2297 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2298 printf() library can be used. */
\r
2299 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2305 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2308 } while( pxNextTCB != pxFirstTCB );
\r
2312 /*-----------------------------------------------------------*/
\r
2314 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2316 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2318 register unsigned short usCount = 0;
\r
2320 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2322 pucStackByte -= portSTACK_GROWTH;
\r
2326 usCount /= sizeof( portSTACK_TYPE );
\r
2332 /*-----------------------------------------------------------*/
\r
2334 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2336 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2339 unsigned char *pcEndOfStack;
\r
2340 unsigned portBASE_TYPE uxReturn;
\r
2342 pxTCB = prvGetTCBFromHandle( xTask );
\r
2344 #if portSTACK_GROWTH < 0
\r
2346 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2350 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2354 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2360 /*-----------------------------------------------------------*/
\r
2362 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
\r
2364 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2366 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2367 the task to free any memory allocated at the application level. */
\r
2368 vPortFreeAligned( pxTCB->pxStack );
\r
2369 vPortFree( pxTCB );
\r
2375 /*-----------------------------------------------------------*/
\r
2377 #if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
\r
2379 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2381 xTaskHandle xReturn;
\r
2383 /* A critical section is not required as this is not called from
\r
2384 an interrupt and the current TCB will always be the same for any
\r
2385 individual execution thread. */
\r
2386 xReturn = pxCurrentTCB;
\r
2393 /*-----------------------------------------------------------*/
\r
2395 #if ( INCLUDE_xTaskGetSchedulerState == 1 )
\r
2397 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2399 portBASE_TYPE xReturn;
\r
2401 if( xSchedulerRunning == pdFALSE )
\r
2403 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2407 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2409 xReturn = taskSCHEDULER_RUNNING;
\r
2413 xReturn = taskSCHEDULER_SUSPENDED;
\r
2421 /*-----------------------------------------------------------*/
\r
2423 #if ( configUSE_MUTEXES == 1 )
\r
2425 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2427 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2429 configASSERT( pxMutexHolder );
\r
2431 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2433 /* Adjust the mutex holder state to account for its new priority. */
\r
2434 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2436 /* If the task being modified is in the ready state it will need to
\r
2437 be moved in to a new list. */
\r
2438 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
2440 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2442 /* Inherit the priority before being moved into the new list. */
\r
2443 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2444 prvAddTaskToReadyQueue( pxTCB );
\r
2448 /* Just inherit the priority. */
\r
2449 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2455 /*-----------------------------------------------------------*/
\r
2457 #if ( configUSE_MUTEXES == 1 )
\r
2459 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2461 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2463 if( pxMutexHolder != NULL )
\r
2465 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2467 /* We must be the running task to be able to give the mutex back.
\r
2468 Remove ourselves from the ready list we currently appear in. */
\r
2469 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2471 /* Disinherit the priority before adding ourselves into the new
\r
2473 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2474 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2475 prvAddTaskToReadyQueue( pxTCB );
\r
2481 /*-----------------------------------------------------------*/
\r
2483 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2485 void vTaskEnterCritical( void )
\r
2487 portDISABLE_INTERRUPTS();
\r
2489 if( xSchedulerRunning != pdFALSE )
\r
2491 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2496 /*-----------------------------------------------------------*/
\r
2498 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2500 void vTaskExitCritical( void )
\r
2502 if( xSchedulerRunning != pdFALSE )
\r
2504 if( pxCurrentTCB->uxCriticalNesting > 0 )
\r
2506 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2508 if( pxCurrentTCB->uxCriticalNesting == 0 )
\r
2510 portENABLE_INTERRUPTS();
\r
2517 /*-----------------------------------------------------------*/
\r
projects / freertos / blob