2 FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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27 ***************************************************************************
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29 * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
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30 * and even write all or part of your application on your behalf. *
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31 * See http://www.OpenRTOS.com for details of the services we provide to *
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32 * expedite your project. *
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34 ***************************************************************************
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35 ***************************************************************************
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37 Please ensure to read the configuration and relevant port sections of the
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38 online documentation.
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40 http://www.FreeRTOS.org - Documentation, latest information, license and
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43 http://www.SafeRTOS.com - A version that is certified for use in safety
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46 http://www.OpenRTOS.com - Commercial support, development, porting,
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47 licensing and training services.
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55 #include "FreeRTOS.h"
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59 * Macro to define the amount of stack available to the idle task.
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61 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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65 * Task control block. A task control block (TCB) is allocated to each task,
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66 * and stores the context of the task.
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68 typedef struct tskTaskControlBlock
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70 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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71 xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
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72 xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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73 unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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74 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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75 signed portCHAR pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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77 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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78 unsigned portBASE_TYPE uxCriticalNesting;
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81 #if ( configUSE_TRACE_FACILITY == 1 )
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82 unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
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85 #if ( configUSE_MUTEXES == 1 )
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86 unsigned portBASE_TYPE uxBasePriority;
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89 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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90 pdTASK_HOOK_CODE pxTaskTag;
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97 tskTCB * volatile pxCurrentTCB = NULL;
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99 /* Lists for ready and blocked tasks. --------------------*/
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101 static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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102 static xList xDelayedTaskList1; /*< Delayed tasks. */
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103 static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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104 static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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105 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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106 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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108 #if ( INCLUDE_vTaskDelete == 1 )
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110 static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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111 static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
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115 #if ( INCLUDE_vTaskSuspend == 1 )
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117 static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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121 /* File private variables. --------------------------------*/
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122 static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
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123 static volatile portTickType xTickCount = ( portTickType ) 0;
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124 static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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125 static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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126 static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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127 static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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128 static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
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129 static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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130 static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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131 /* Debugging and trace facilities private variables and macros. ------------*/
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134 * The value used to fill the stack of a task when the task is created. This
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135 * is used purely for checking the high water mark for tasks.
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137 #define tskSTACK_FILL_BYTE ( 0xa5 )
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140 * Macros used by vListTask to indicate which state a task is in.
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142 #define tskBLOCKED_CHAR ( ( signed portCHAR ) 'B' )
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143 #define tskREADY_CHAR ( ( signed portCHAR ) 'R' )
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144 #define tskDELETED_CHAR ( ( signed portCHAR ) 'D' )
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145 #define tskSUSPENDED_CHAR ( ( signed portCHAR ) 'S' )
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148 * Macros and private variables used by the trace facility.
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150 #if ( configUSE_TRACE_FACILITY == 1 )
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152 #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned portLONG ) ( sizeof( unsigned portLONG ) + sizeof( unsigned portLONG ) ) )
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153 static volatile signed portCHAR * volatile pcTraceBuffer;
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154 static signed portCHAR *pcTraceBufferStart;
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155 static signed portCHAR *pcTraceBufferEnd;
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156 static signed portBASE_TYPE xTracing = pdFALSE;
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160 /*-----------------------------------------------------------*/
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163 * Macro that writes a trace of scheduler activity to a buffer. This trace
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164 * shows which task is running when and is very useful as a debugging tool.
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165 * As this macro is called each context switch it is a good idea to undefine
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166 * it if not using the facility.
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168 #if ( configUSE_TRACE_FACILITY == 1 )
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170 #define vWriteTraceToBuffer() \
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174 static unsigned portBASE_TYPE uxPreviousTask = 255; \
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176 if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
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178 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
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180 uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
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181 *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) xTickCount; \
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182 pcTraceBuffer += sizeof( unsigned portLONG ); \
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183 *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) uxPreviousTask; \
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184 pcTraceBuffer += sizeof( unsigned portLONG ); \
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188 xTracing = pdFALSE; \
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196 #define vWriteTraceToBuffer()
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199 /*-----------------------------------------------------------*/
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202 * Place the task represented by pxTCB into the appropriate ready queue for
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203 * the task. It is inserted at the end of the list. One quirk of this is
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204 * that if the task being inserted is at the same priority as the currently
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205 * executing task, then it will only be rescheduled after the currently
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206 * executing task has been rescheduled.
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208 #define prvAddTaskToReadyQueue( pxTCB ) \
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210 if( pxTCB->uxPriority > uxTopReadyPriority ) \
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212 uxTopReadyPriority = pxTCB->uxPriority; \
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214 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \
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216 /*-----------------------------------------------------------*/
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219 * Macro that looks at the list of tasks that are currently delayed to see if
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220 * any require waking.
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222 * Tasks are stored in the queue in the order of their wake time - meaning
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223 * once one tasks has been found whose timer has not expired we need not look
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224 * any further down the list.
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226 #define prvCheckDelayedTasks() \
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228 register tskTCB *pxTCB; \
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230 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \
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232 if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \
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236 vListRemove( &( pxTCB->xGenericListItem ) ); \
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237 /* Is the task waiting on an event also? */ \
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238 if( pxTCB->xEventListItem.pvContainer ) \
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240 vListRemove( &( pxTCB->xEventListItem ) ); \
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242 prvAddTaskToReadyQueue( pxTCB ); \
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245 /*-----------------------------------------------------------*/
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248 * Call the stack overflow hook function if the stack of the task being swapped
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249 * out is currently overflowed, or looks like it might have overflowed in the
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252 * Setting configCHECK_FOR_STACK_OVERFLOW to 1 will cause the macro to check
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253 * the current stack state only - comparing the current top of stack value to
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254 * the stack limit. Setting configCHECK_FOR_STACK_OVERFLOW to greater than 1
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255 * will also cause the last few stack bytes to be checked to ensure the value
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256 * to which the bytes were set when the task was created have not been
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257 * overwritten. Note this second test does not guarantee that an overflowed
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258 * stack will always be recognised.
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261 #if( configCHECK_FOR_STACK_OVERFLOW == 0 )
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263 /* FreeRTOSConfig.h is not set to check for stack overflows. */
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264 #define taskCHECK_FOR_STACK_OVERFLOW()
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266 #endif /* configCHECK_FOR_STACK_OVERFLOW == 0 */
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268 #if( ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH >= 0 ) )
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270 /* This is an invalid setting. */
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271 #error configCHECK_FOR_STACK_OVERFLOW can only be set to a non zero value on architectures where the stack grows down from high memory.
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273 #endif /* ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH >= 0 ) */
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275 #if( configCHECK_FOR_STACK_OVERFLOW == 1 )
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277 /* Only the current stack state is to be checked. */
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278 #define taskCHECK_FOR_STACK_OVERFLOW() \
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280 extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName ); \
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282 /* Is the currently saved stack pointer within the stack limit? */ \
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283 if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \
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285 vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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289 #endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
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291 #if( configCHECK_FOR_STACK_OVERFLOW > 1 )
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293 /* Both the current statck state and the stack fill bytes are to be checked. */
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294 #define taskCHECK_FOR_STACK_OVERFLOW() \
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296 extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName ); \
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297 static const unsigned portCHAR ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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298 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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299 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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300 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
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301 tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \
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303 /* Is the currently saved stack pointer within the stack limit? */ \
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304 if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \
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306 vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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309 /* Has the extremity of the task stack ever been written over? */ \
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310 if( memcmp( ( void * ) pxCurrentTCB->pxStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \
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312 vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
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316 #endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
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318 /*-----------------------------------------------------------*/
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321 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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322 * where NULL is used to indicate that the handle of the currently executing
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323 * task should be used in place of the parameter. This macro simply checks to
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324 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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326 #define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )
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329 /* File private functions. --------------------------------*/
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332 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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333 * into the TCB structure.
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335 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority );
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338 * Utility to ready all the lists used by the scheduler. This is called
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339 * automatically upon the creation of the first task.
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341 static void prvInitialiseTaskLists( void );
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344 * The idle task, which as all tasks is implemented as a never ending loop.
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345 * The idle task is automatically created and added to the ready lists upon
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346 * creation of the first user task.
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348 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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349 * language extensions. The equivalent prototype for this function is:
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351 * void prvIdleTask( void *pvParameters );
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354 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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357 * Utility to free all memory allocated by the scheduler to hold a TCB,
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358 * including the stack pointed to by the TCB.
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360 * This does not free memory allocated by the task itself (i.e. memory
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361 * allocated by calls to pvPortMalloc from within the tasks application code).
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363 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
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364 static void prvDeleteTCB( tskTCB *pxTCB );
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368 * Used only by the idle task. This checks to see if anything has been placed
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369 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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370 * and its TCB deleted.
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372 static void prvCheckTasksWaitingTermination( void );
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375 * Allocates memory from the heap for a TCB and associated stack. Checks the
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376 * allocation was successful.
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378 static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );
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381 * Called from vTaskList. vListTasks details all the tasks currently under
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382 * control of the scheduler. The tasks may be in one of a number of lists.
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383 * prvListTaskWithinSingleList accepts a list and details the tasks from
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384 * within just that list.
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386 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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387 * NORMAL APPLICATION CODE.
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389 #if ( configUSE_TRACE_FACILITY == 1 )
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391 static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus );
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396 * When a task is created, the stack of the task is filled with a known value.
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397 * This function determines the 'high water mark' of the task stack by
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398 * determining how much of the stack remains at the original preset value.
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400 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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402 unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte );
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411 /*-----------------------------------------------------------
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412 * TASK CREATION API documented in task.h
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413 *----------------------------------------------------------*/
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415 signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask )
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417 signed portBASE_TYPE xReturn;
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419 #if ( configUSE_TRACE_FACILITY == 1 )
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420 static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberate - this is guarded before use. */
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423 /* Allocate the memory required by the TCB and stack for the new task.
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424 checking that the allocation was successful. */
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425 pxNewTCB = prvAllocateTCBAndStack( usStackDepth );
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427 if( pxNewTCB != NULL )
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429 portSTACK_TYPE *pxTopOfStack;
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431 /* Setup the newly allocated TCB with the initial state of the task. */
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432 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority );
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434 /* Calculate the top of stack address. This depends on whether the
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435 stack grows from high memory to low (as per the 80x86) or visa versa.
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436 portSTACK_GROWTH is used to make the result positive or negative as
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437 required by the port. */
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438 #if portSTACK_GROWTH < 0
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440 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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444 pxTopOfStack = pxNewTCB->pxStack;
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448 /* Initialize the TCB stack to look as if the task was already running,
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449 but had been interrupted by the scheduler. The return address is set
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450 to the start of the task function. Once the stack has been initialised
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451 the top of stack variable is updated. */
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452 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pvTaskCode, pvParameters );
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454 /* We are going to manipulate the task queues to add this task to a
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455 ready list, so must make sure no interrupts occur. */
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456 portENTER_CRITICAL();
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458 uxCurrentNumberOfTasks++;
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459 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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461 /* As this is the first task it must also be the current task. */
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462 pxCurrentTCB = pxNewTCB;
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464 /* This is the first task to be created so do the preliminary
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465 initialisation required. We will not recover if this call
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466 fails, but we will report the failure. */
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467 prvInitialiseTaskLists();
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471 /* If the scheduler is not already running, make this task the
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472 current task if it is the highest priority task to be created
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474 if( xSchedulerRunning == pdFALSE )
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476 if( pxCurrentTCB->uxPriority <= uxPriority )
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478 pxCurrentTCB = pxNewTCB;
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483 /* Remember the top priority to make context switching faster. Use
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484 the priority in pxNewTCB as this has been capped to a valid value. */
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485 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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487 uxTopUsedPriority = pxNewTCB->uxPriority;
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490 #if ( configUSE_TRACE_FACILITY == 1 )
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492 /* Add a counter into the TCB for tracing only. */
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493 pxNewTCB->uxTCBNumber = uxTaskNumber;
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498 prvAddTaskToReadyQueue( pxNewTCB );
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501 traceTASK_CREATE( pxNewTCB );
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503 portEXIT_CRITICAL();
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507 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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508 traceTASK_CREATE_FAILED( pxNewTCB );
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511 if( xReturn == pdPASS )
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513 if( ( void * ) pxCreatedTask != NULL )
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515 /* Pass the TCB out - in an anonymous way. The calling function/
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516 task can use this as a handle to delete the task later if
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518 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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521 if( xSchedulerRunning != pdFALSE )
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523 /* If the created task is of a higher priority than the current task
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524 then it should run now. */
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525 if( pxCurrentTCB->uxPriority < uxPriority )
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534 /*-----------------------------------------------------------*/
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536 #if ( INCLUDE_vTaskDelete == 1 )
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538 void vTaskDelete( xTaskHandle pxTaskToDelete )
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542 taskENTER_CRITICAL();
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544 /* Ensure a yield is performed if the current task is being
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546 if( pxTaskToDelete == pxCurrentTCB )
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548 pxTaskToDelete = NULL;
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551 /* If null is passed in here then we are deleting ourselves. */
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552 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
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554 traceTASK_DELETE( pxTCB );
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556 /* Remove task from the ready list and place in the termination list.
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557 This will stop the task from be scheduled. The idle task will check
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558 the termination list and free up any memory allocated by the
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559 scheduler for the TCB and stack. */
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560 vListRemove( &( pxTCB->xGenericListItem ) );
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562 /* Is the task waiting on an event also? */
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563 if( pxTCB->xEventListItem.pvContainer )
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565 vListRemove( &( pxTCB->xEventListItem ) );
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568 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
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570 /* Increment the ucTasksDeleted variable so the idle task knows
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571 there is a task that has been deleted and that it should therefore
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572 check the xTasksWaitingTermination list. */
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575 taskEXIT_CRITICAL();
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577 /* Force a reschedule if we have just deleted the current task. */
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578 if( xSchedulerRunning != pdFALSE )
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580 if( ( void * ) pxTaskToDelete == NULL )
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594 /*-----------------------------------------------------------
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595 * TASK CONTROL API documented in task.h
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596 *----------------------------------------------------------*/
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598 #if ( INCLUDE_vTaskDelayUntil == 1 )
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600 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
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602 portTickType xTimeToWake;
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603 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
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607 /* Generate the tick time at which the task wants to wake. */
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608 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
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610 if( xTickCount < *pxPreviousWakeTime )
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612 /* The tick count has overflowed since this function was
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613 lasted called. In this case the only time we should ever
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614 actually delay is if the wake time has also overflowed,
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615 and the wake time is greater than the tick time. When this
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616 is the case it is as if neither time had overflowed. */
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617 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
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619 xShouldDelay = pdTRUE;
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624 /* The tick time has not overflowed. In this case we will
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625 delay if either the wake time has overflowed, and/or the
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626 tick time is less than the wake time. */
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627 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
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629 xShouldDelay = pdTRUE;
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633 /* Update the wake time ready for the next call. */
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634 *pxPreviousWakeTime = xTimeToWake;
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638 traceTASK_DELAY_UNTIL();
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640 /* We must remove ourselves from the ready list before adding
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641 ourselves to the blocked list as the same list item is used for
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643 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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645 /* The list item will be inserted in wake time order. */
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646 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
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648 if( xTimeToWake < xTickCount )
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650 /* Wake time has overflowed. Place this item in the
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652 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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656 /* The wake time has not overflowed, so we can use the
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657 current block list. */
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658 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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662 xAlreadyYielded = xTaskResumeAll();
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664 /* Force a reschedule if xTaskResumeAll has not already done so, we may
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665 have put ourselves to sleep. */
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666 if( !xAlreadyYielded )
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673 /*-----------------------------------------------------------*/
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675 #if ( INCLUDE_vTaskDelay == 1 )
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677 void vTaskDelay( portTickType xTicksToDelay )
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679 portTickType xTimeToWake;
\r
680 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
682 /* A delay time of zero just forces a reschedule. */
\r
683 if( xTicksToDelay > ( portTickType ) 0 )
\r
689 /* A task that is removed from the event list while the
\r
690 scheduler is suspended will not get placed in the ready
\r
691 list or removed from the blocked list until the scheduler
\r
694 This task cannot be in an event list as it is the currently
\r
697 /* Calculate the time to wake - this may overflow but this is
\r
699 xTimeToWake = xTickCount + xTicksToDelay;
\r
701 /* We must remove ourselves from the ready list before adding
\r
702 ourselves to the blocked list as the same list item is used for
\r
704 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
706 /* The list item will be inserted in wake time order. */
\r
707 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
709 if( xTimeToWake < xTickCount )
\r
711 /* Wake time has overflowed. Place this item in the
\r
713 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
717 /* The wake time has not overflowed, so we can use the
\r
718 current block list. */
\r
719 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
722 xAlreadyYielded = xTaskResumeAll();
\r
725 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
726 have put ourselves to sleep. */
\r
727 if( !xAlreadyYielded )
\r
734 /*-----------------------------------------------------------*/
\r
736 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
738 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
741 unsigned portBASE_TYPE uxReturn;
\r
743 taskENTER_CRITICAL();
\r
745 /* If null is passed in here then we are changing the
\r
746 priority of the calling function. */
\r
747 pxTCB = prvGetTCBFromHandle( pxTask );
\r
748 uxReturn = pxTCB->uxPriority;
\r
750 taskEXIT_CRITICAL();
\r
756 /*-----------------------------------------------------------*/
\r
758 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
760 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
763 unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
\r
765 /* Ensure the new priority is valid. */
\r
766 if( uxNewPriority >= configMAX_PRIORITIES )
\r
768 uxNewPriority = configMAX_PRIORITIES - 1;
\r
771 taskENTER_CRITICAL();
\r
773 if( pxTask == pxCurrentTCB )
\r
778 /* If null is passed in here then we are changing the
\r
779 priority of the calling function. */
\r
780 pxTCB = prvGetTCBFromHandle( pxTask );
\r
782 traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
\r
784 #if ( configUSE_MUTEXES == 1 )
\r
786 uxCurrentPriority = pxTCB->uxBasePriority;
\r
790 uxCurrentPriority = pxTCB->uxPriority;
\r
794 if( uxCurrentPriority != uxNewPriority )
\r
796 /* The priority change may have readied a task of higher
\r
797 priority than the calling task. */
\r
798 if( uxNewPriority > uxCurrentPriority )
\r
800 if( pxTask != NULL )
\r
802 /* The priority of another task is being raised. If we
\r
803 were raising the priority of the currently running task
\r
804 there would be no need to switch as it must have already
\r
805 been the highest priority task. */
\r
806 xYieldRequired = pdTRUE;
\r
809 else if( pxTask == NULL )
\r
811 /* Setting our own priority down means there may now be another
\r
812 task of higher priority that is ready to execute. */
\r
813 xYieldRequired = pdTRUE;
\r
818 #if ( configUSE_MUTEXES == 1 )
\r
820 /* Only change the priority being used if the task is not
\r
821 currently using an inherited priority. */
\r
822 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
824 pxTCB->uxPriority = uxNewPriority;
\r
827 /* The base priority gets set whatever. */
\r
828 pxTCB->uxBasePriority = uxNewPriority;
\r
832 pxTCB->uxPriority = uxNewPriority;
\r
836 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
838 /* If the task is in the blocked or suspended list we need do
\r
839 nothing more than change it's priority variable. However, if
\r
840 the task is in a ready list it needs to be removed and placed
\r
841 in the queue appropriate to its new priority. */
\r
842 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
844 /* The task is currently in its ready list - remove before adding
\r
845 it to it's new ready list. As we are in a critical section we
\r
846 can do this even if the scheduler is suspended. */
\r
847 vListRemove( &( pxTCB->xGenericListItem ) );
\r
848 prvAddTaskToReadyQueue( pxTCB );
\r
851 if( xYieldRequired == pdTRUE )
\r
857 taskEXIT_CRITICAL();
\r
861 /*-----------------------------------------------------------*/
\r
863 #if ( INCLUDE_vTaskSuspend == 1 )
\r
865 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
869 taskENTER_CRITICAL();
\r
871 /* Ensure a yield is performed if the current task is being
\r
873 if( pxTaskToSuspend == pxCurrentTCB )
\r
875 pxTaskToSuspend = NULL;
\r
878 /* If null is passed in here then we are suspending ourselves. */
\r
879 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
881 traceTASK_SUSPEND( pxTaskToSuspend );
\r
883 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
884 vListRemove( &( pxTCB->xGenericListItem ) );
\r
886 /* Is the task waiting on an event also? */
\r
887 if( pxTCB->xEventListItem.pvContainer )
\r
889 vListRemove( &( pxTCB->xEventListItem ) );
\r
892 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
894 taskEXIT_CRITICAL();
\r
896 /* We may have just suspended the current task. */
\r
897 if( ( void * ) pxTaskToSuspend == NULL )
\r
904 /*-----------------------------------------------------------*/
\r
906 #if ( INCLUDE_vTaskSuspend == 1 )
\r
908 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
910 portBASE_TYPE xReturn = pdFALSE;
\r
911 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
913 /* Is the task we are attempting to resume actually in the
\r
915 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
917 /* Has the task already been resumed from within an ISR? */
\r
918 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
920 /* Is it in the suspended list because it is in the
\r
921 Suspended state? It is possible to be in the suspended
\r
922 list because it is blocked on a task with no timeout
\r
924 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
935 /*-----------------------------------------------------------*/
\r
937 #if ( INCLUDE_vTaskSuspend == 1 )
\r
939 void vTaskResume( xTaskHandle pxTaskToResume )
\r
943 /* Remove the task from whichever list it is currently in, and place
\r
944 it in the ready list. */
\r
945 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
947 /* The parameter cannot be NULL as it is impossible to resume the
\r
948 currently executing task. */
\r
949 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
951 taskENTER_CRITICAL();
\r
953 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
955 traceTASK_RESUME( pxTCB );
\r
957 /* As we are in a critical section we can access the ready
\r
958 lists even if the scheduler is suspended. */
\r
959 vListRemove( &( pxTCB->xGenericListItem ) );
\r
960 prvAddTaskToReadyQueue( pxTCB );
\r
962 /* We may have just resumed a higher priority task. */
\r
963 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
965 /* This yield may not cause the task just resumed to run, but
\r
966 will leave the lists in the correct state for the next yield. */
\r
971 taskEXIT_CRITICAL();
\r
977 /*-----------------------------------------------------------*/
\r
979 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
981 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
983 portBASE_TYPE xYieldRequired = pdFALSE;
\r
986 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
988 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
990 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
992 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
994 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
995 vListRemove( &( pxTCB->xGenericListItem ) );
\r
996 prvAddTaskToReadyQueue( pxTCB );
\r
1000 /* We cannot access the delayed or ready lists, so will hold this
\r
1001 task pending until the scheduler is resumed, at which point a
\r
1002 yield will be performed if necessary. */
\r
1003 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1007 return xYieldRequired;
\r
1015 /*-----------------------------------------------------------
\r
1016 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1017 *----------------------------------------------------------*/
\r
1020 void vTaskStartScheduler( void )
\r
1022 portBASE_TYPE xReturn;
\r
1024 /* Add the idle task at the lowest priority. */
\r
1025 xReturn = xTaskCreate( prvIdleTask, ( signed portCHAR * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
\r
1027 if( xReturn == pdPASS )
\r
1029 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1030 before or during the call to xPortStartScheduler(). The stacks of
\r
1031 the created tasks contain a status word with interrupts switched on
\r
1032 so interrupts will automatically get re-enabled when the first task
\r
1035 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1036 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1037 portDISABLE_INTERRUPTS();
\r
1039 xSchedulerRunning = pdTRUE;
\r
1040 xTickCount = ( portTickType ) 0;
\r
1042 /* Setting up the timer tick is hardware specific and thus in the
\r
1043 portable interface. */
\r
1044 if( xPortStartScheduler() )
\r
1046 /* Should not reach here as if the scheduler is running the
\r
1047 function will not return. */
\r
1051 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1055 /*-----------------------------------------------------------*/
\r
1057 void vTaskEndScheduler( void )
\r
1059 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1060 routine so the original ISRs can be restored if necessary. The port
\r
1061 layer must ensure interrupts enable bit is left in the correct state. */
\r
1062 portDISABLE_INTERRUPTS();
\r
1063 xSchedulerRunning = pdFALSE;
\r
1064 vPortEndScheduler();
\r
1066 /*----------------------------------------------------------*/
\r
1068 void vTaskSuspendAll( void )
\r
1070 portENTER_CRITICAL();
\r
1071 ++uxSchedulerSuspended;
\r
1072 portEXIT_CRITICAL();
\r
1074 /*----------------------------------------------------------*/
\r
1076 signed portBASE_TYPE xTaskResumeAll( void )
\r
1078 register tskTCB *pxTCB;
\r
1079 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1081 /* It is possible that an ISR caused a task to be removed from an event
\r
1082 list while the scheduler was suspended. If this was the case then the
\r
1083 removed task will have been added to the xPendingReadyList. Once the
\r
1084 scheduler has been resumed it is safe to move all the pending ready
\r
1085 tasks from this list into their appropriate ready list. */
\r
1086 portENTER_CRITICAL();
\r
1088 --uxSchedulerSuspended;
\r
1090 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1092 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
\r
1094 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1096 /* Move any readied tasks from the pending list into the
\r
1097 appropriate ready list. */
\r
1098 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL )
\r
1100 vListRemove( &( pxTCB->xEventListItem ) );
\r
1101 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1102 prvAddTaskToReadyQueue( pxTCB );
\r
1104 /* If we have moved a task that has a priority higher than
\r
1105 the current task then we should yield. */
\r
1106 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1108 xYieldRequired = pdTRUE;
\r
1112 /* If any ticks occurred while the scheduler was suspended then
\r
1113 they should be processed now. This ensures the tick count does not
\r
1114 slip, and that any delayed tasks are resumed at the correct time. */
\r
1115 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1117 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1119 vTaskIncrementTick();
\r
1123 /* As we have processed some ticks it is appropriate to yield
\r
1124 to ensure the highest priority task that is ready to run is
\r
1125 the task actually running. */
\r
1126 #if configUSE_PREEMPTION == 1
\r
1128 xYieldRequired = pdTRUE;
\r
1133 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1135 xAlreadyYielded = pdTRUE;
\r
1136 xMissedYield = pdFALSE;
\r
1142 portEXIT_CRITICAL();
\r
1144 return xAlreadyYielded;
\r
1152 /*-----------------------------------------------------------
\r
1153 * PUBLIC TASK UTILITIES documented in task.h
\r
1154 *----------------------------------------------------------*/
\r
1158 portTickType xTaskGetTickCount( void )
\r
1160 portTickType xTicks;
\r
1162 /* Critical section required if running on a 16 bit processor. */
\r
1163 taskENTER_CRITICAL();
\r
1165 xTicks = xTickCount;
\r
1167 taskEXIT_CRITICAL();
\r
1171 /*-----------------------------------------------------------*/
\r
1173 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1175 unsigned portBASE_TYPE uxNumberOfTasks;
\r
1177 taskENTER_CRITICAL();
\r
1178 uxNumberOfTasks = uxCurrentNumberOfTasks;
\r
1179 taskEXIT_CRITICAL();
\r
1181 return uxNumberOfTasks;
\r
1183 /*-----------------------------------------------------------*/
\r
1185 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_vTaskDelete == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1187 void vTaskList( signed portCHAR *pcWriteBuffer )
\r
1189 unsigned portBASE_TYPE uxQueue;
\r
1191 /* This is a VERY costly function that should be used for debug only.
\r
1192 It leaves interrupts disabled for a LONG time. */
\r
1194 vTaskSuspendAll();
\r
1196 /* Run through all the lists that could potentially contain a TCB and
\r
1197 report the task name, state and stack high water mark. */
\r
1199 pcWriteBuffer[ 0 ] = ( signed portCHAR ) 0x00;
\r
1200 strcat( ( portCHAR * ) pcWriteBuffer, ( const portCHAR * ) "\r\n" );
\r
1202 uxQueue = uxTopUsedPriority + 1;
\r
1208 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1210 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1212 }while( uxQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
\r
1214 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1216 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1219 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1221 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1224 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1226 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1229 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1231 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1238 /*----------------------------------------------------------*/
\r
1240 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1242 void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize )
\r
1244 portENTER_CRITICAL();
\r
1246 pcTraceBuffer = ( signed portCHAR * )pcBuffer;
\r
1247 pcTraceBufferStart = pcBuffer;
\r
1248 pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
\r
1249 xTracing = pdTRUE;
\r
1251 portEXIT_CRITICAL();
\r
1255 /*----------------------------------------------------------*/
\r
1257 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1259 unsigned portLONG ulTaskEndTrace( void )
\r
1261 unsigned portLONG ulBufferLength;
\r
1263 portENTER_CRITICAL();
\r
1264 xTracing = pdFALSE;
\r
1265 portEXIT_CRITICAL();
\r
1267 ulBufferLength = ( unsigned portLONG ) ( pcTraceBuffer - pcTraceBufferStart );
\r
1269 return ulBufferLength;
\r
1276 /*-----------------------------------------------------------
\r
1277 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1278 * documented in task.h
\r
1279 *----------------------------------------------------------*/
\r
1282 void vTaskIncrementTick( void )
\r
1284 /* Called by the portable layer each time a tick interrupt occurs.
\r
1285 Increments the tick then checks to see if the new tick value will cause any
\r
1286 tasks to be unblocked. */
\r
1287 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1290 if( xTickCount == ( portTickType ) 0 )
\r
1294 /* Tick count has overflowed so we need to swap the delay lists.
\r
1295 If there are any items in pxDelayedTaskList here then there is
\r
1297 pxTemp = pxDelayedTaskList;
\r
1298 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1299 pxOverflowDelayedTaskList = pxTemp;
\r
1300 xNumOfOverflows++;
\r
1303 /* See if this tick has made a timeout expire. */
\r
1304 prvCheckDelayedTasks();
\r
1310 /* The tick hook gets called at regular intervals, even if the
\r
1311 scheduler is locked. */
\r
1312 #if ( configUSE_TICK_HOOK == 1 )
\r
1314 extern void vApplicationTickHook( void );
\r
1316 vApplicationTickHook();
\r
1321 #if ( configUSE_TICK_HOOK == 1 )
\r
1323 extern void vApplicationTickHook( void );
\r
1325 /* Guard against the tick hook being called when the missed tick
\r
1326 count is being unwound (when the scheduler is being unlocked. */
\r
1327 if( uxMissedTicks == 0 )
\r
1329 vApplicationTickHook();
\r
1334 traceTASK_INCREMENT_TICK( xTickCount );
\r
1336 /*-----------------------------------------------------------*/
\r
1338 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1340 void vTaskCleanUpResources( void )
\r
1342 unsigned portSHORT usQueue;
\r
1343 volatile tskTCB *pxTCB;
\r
1345 usQueue = ( unsigned portSHORT ) uxTopUsedPriority + ( unsigned portSHORT ) 1;
\r
1347 /* Remove any TCB's from the ready queues. */
\r
1352 while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
\r
1354 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
\r
1355 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1357 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1359 }while( usQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
\r
1361 /* Remove any TCB's from the delayed queue. */
\r
1362 while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
\r
1364 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
\r
1365 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1367 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1370 /* Remove any TCB's from the overflow delayed queue. */
\r
1371 while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
\r
1373 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
\r
1374 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1376 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1379 while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1381 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
\r
1382 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1384 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1389 /*-----------------------------------------------------------*/
\r
1391 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1393 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue )
\r
1397 /* If xTask is NULL then we are setting our own task hook. */
\r
1398 if( xTask == NULL )
\r
1400 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1404 xTCB = ( tskTCB * ) xTask;
\r
1407 /* Save the hook function in the TCB. */
\r
1408 portENTER_CRITICAL();
\r
1409 xTCB->pxTaskTag = pxTagValue;
\r
1410 portEXIT_CRITICAL();
\r
1414 /*-----------------------------------------------------------*/
\r
1416 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1418 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1421 portBASE_TYPE xReturn;
\r
1423 /* If xTask is NULL then we are calling our own task hook. */
\r
1424 if( xTask == NULL )
\r
1426 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1430 xTCB = ( tskTCB * ) xTask;
\r
1433 if( xTCB->pxTaskTag != NULL )
\r
1435 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1446 /*-----------------------------------------------------------*/
\r
1448 void vTaskSwitchContext( void )
\r
1450 traceTASK_SWITCHED_OUT();
\r
1452 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1454 /* The scheduler is currently suspended - do not allow a context
\r
1456 xMissedYield = pdTRUE;
\r
1460 taskCHECK_FOR_STACK_OVERFLOW();
\r
1462 /* Find the highest priority queue that contains ready tasks. */
\r
1463 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1465 --uxTopReadyPriority;
\r
1468 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1469 same priority get an equal share of the processor time. */
\r
1470 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1472 traceTASK_SWITCHED_IN();
\r
1473 vWriteTraceToBuffer();
\r
1475 /*-----------------------------------------------------------*/
\r
1477 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1479 portTickType xTimeToWake;
\r
1481 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1482 SCHEDULER SUSPENDED. */
\r
1484 /* Place the event list item of the TCB in the appropriate event list.
\r
1485 This is placed in the list in priority order so the highest priority task
\r
1486 is the first to be woken by the event. */
\r
1487 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1489 /* We must remove ourselves from the ready list before adding ourselves
\r
1490 to the blocked list as the same list item is used for both lists. We have
\r
1491 exclusive access to the ready lists as the scheduler is locked. */
\r
1492 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1495 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1497 if( xTicksToWait == portMAX_DELAY )
\r
1499 /* Add ourselves to the suspended task list instead of a delayed task
\r
1500 list to ensure we are not woken by a timing event. We will block
\r
1502 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1506 /* Calculate the time at which the task should be woken if the event does
\r
1507 not occur. This may overflow but this doesn't matter. */
\r
1508 xTimeToWake = xTickCount + xTicksToWait;
\r
1510 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1512 if( xTimeToWake < xTickCount )
\r
1514 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1515 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1519 /* The wake time has not overflowed, so we can use the current block list. */
\r
1520 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1526 /* Calculate the time at which the task should be woken if the event does
\r
1527 not occur. This may overflow but this doesn't matter. */
\r
1528 xTimeToWake = xTickCount + xTicksToWait;
\r
1530 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1532 if( xTimeToWake < xTickCount )
\r
1534 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1535 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1539 /* The wake time has not overflowed, so we can use the current block list. */
\r
1540 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1545 /*-----------------------------------------------------------*/
\r
1547 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1549 tskTCB *pxUnblockedTCB;
\r
1550 portBASE_TYPE xReturn;
\r
1552 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1553 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1555 /* The event list is sorted in priority order, so we can remove the
\r
1556 first in the list, remove the TCB from the delayed list, and add
\r
1557 it to the ready list.
\r
1559 If an event is for a queue that is locked then this function will never
\r
1560 get called - the lock count on the queue will get modified instead. This
\r
1561 means we can always expect exclusive access to the event list here. */
\r
1562 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1563 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1565 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1567 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1568 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1572 /* We cannot access the delayed or ready lists, so will hold this
\r
1573 task pending until the scheduler is resumed. */
\r
1574 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1577 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1579 /* Return true if the task removed from the event list has
\r
1580 a higher priority than the calling task. This allows
\r
1581 the calling task to know if it should force a context
\r
1587 xReturn = pdFALSE;
\r
1592 /*-----------------------------------------------------------*/
\r
1594 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1596 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1597 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1599 /*-----------------------------------------------------------*/
\r
1601 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1603 portBASE_TYPE xReturn;
\r
1605 portENTER_CRITICAL();
\r
1607 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1608 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1609 the maximum block time then the task should block indefinitely, and
\r
1610 therefore never time out. */
\r
1611 if( *pxTicksToWait == portMAX_DELAY )
\r
1613 xReturn = pdFALSE;
\r
1615 else /* We are not blocking indefinitely, perform the checks below. */
\r
1618 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xTickCount >= pxTimeOut->xTimeOnEntering ) )
\r
1620 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1621 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1622 It must have wrapped all the way around and gone past us again. This
\r
1623 passed since vTaskSetTimeout() was called. */
\r
1626 else if( ( xTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
1628 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1629 *pxTicksToWait -= ( xTickCount - pxTimeOut->xTimeOnEntering );
\r
1630 vTaskSetTimeOutState( pxTimeOut );
\r
1631 xReturn = pdFALSE;
\r
1638 portEXIT_CRITICAL();
\r
1642 /*-----------------------------------------------------------*/
\r
1644 void vTaskMissedYield( void )
\r
1646 xMissedYield = pdTRUE;
\r
1650 * -----------------------------------------------------------
\r
1652 * ----------------------------------------------------------
\r
1654 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1655 * language extensions. The equivalent prototype for this function is:
\r
1657 * void prvIdleTask( void *pvParameters );
\r
1660 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1662 /* Stop warnings. */
\r
1663 ( void ) pvParameters;
\r
1667 /* See if any tasks have been deleted. */
\r
1668 prvCheckTasksWaitingTermination();
\r
1670 #if ( configUSE_PREEMPTION == 0 )
\r
1672 /* If we are not using preemption we keep forcing a task switch to
\r
1673 see if any other task has become available. If we are using
\r
1674 preemption we don't need to do this as any task becoming available
\r
1675 will automatically get the processor anyway. */
\r
1680 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1682 /* When using preemption tasks of equal priority will be
\r
1683 timesliced. If a task that is sharing the idle priority is ready
\r
1684 to run then the idle task should yield before the end of the
\r
1687 A critical region is not required here as we are just reading from
\r
1688 the list, and an occasional incorrect value will not matter. If
\r
1689 the ready list at the idle priority contains more than one task
\r
1690 then a task other than the idle task is ready to execute. */
\r
1691 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1698 #if ( configUSE_IDLE_HOOK == 1 )
\r
1700 extern void vApplicationIdleHook( void );
\r
1702 /* Call the user defined function from within the idle task. This
\r
1703 allows the application designer to add background functionality
\r
1704 without the overhead of a separate task.
\r
1705 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1706 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1707 vApplicationIdleHook();
\r
1711 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1719 /*-----------------------------------------------------------
\r
1720 * File private functions documented at the top of the file.
\r
1721 *----------------------------------------------------------*/
\r
1725 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority )
\r
1727 /* Store the function name in the TCB. */
\r
1728 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned portSHORT ) configMAX_TASK_NAME_LEN );
\r
1729 pxTCB->pcTaskName[ ( unsigned portSHORT ) configMAX_TASK_NAME_LEN - ( unsigned portSHORT ) 1 ] = '\0';
\r
1731 /* This is used as an array index so must ensure it's not too large. */
\r
1732 if( uxPriority >= configMAX_PRIORITIES )
\r
1734 uxPriority = configMAX_PRIORITIES - 1;
\r
1737 pxTCB->uxPriority = uxPriority;
\r
1738 #if ( configUSE_MUTEXES == 1 )
\r
1740 pxTCB->uxBasePriority = uxPriority;
\r
1744 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
1745 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
1747 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
1748 back to the containing TCB from a generic item in a list. */
\r
1749 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
1751 /* Event lists are always in priority order. */
\r
1752 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
1753 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
1755 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
1757 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
\r
1761 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1763 pxTCB->pxTaskTag = NULL;
\r
1767 /*-----------------------------------------------------------*/
\r
1769 static void prvInitialiseTaskLists( void )
\r
1771 unsigned portBASE_TYPE uxPriority;
\r
1773 for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
1775 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
1778 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
1779 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
1780 vListInitialise( ( xList * ) &xPendingReadyList );
\r
1782 #if ( INCLUDE_vTaskDelete == 1 )
\r
1784 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
1788 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1790 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
1794 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
1796 pxDelayedTaskList = &xDelayedTaskList1;
\r
1797 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
1799 /*-----------------------------------------------------------*/
\r
1801 static void prvCheckTasksWaitingTermination( void )
\r
1803 #if ( INCLUDE_vTaskDelete == 1 )
\r
1805 portBASE_TYPE xListIsEmpty;
\r
1807 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
1808 too often in the idle task. */
\r
1809 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
\r
1811 vTaskSuspendAll();
\r
1812 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
1815 if( !xListIsEmpty )
\r
1819 portENTER_CRITICAL();
\r
1821 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
1822 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1823 --uxCurrentNumberOfTasks;
\r
1826 portEXIT_CRITICAL();
\r
1828 prvDeleteTCB( pxTCB );
\r
1834 /*-----------------------------------------------------------*/
\r
1836 static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth )
\r
1840 /* Allocate space for the TCB. Where the memory comes from depends on
\r
1841 the implementation of the port malloc function. */
\r
1842 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
1844 if( pxNewTCB != NULL )
\r
1846 /* Allocate space for the stack used by the task being created.
\r
1847 The base of the stack memory stored in the TCB so the task can
\r
1848 be deleted later if required. */
\r
1849 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMalloc( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) );
\r
1851 if( pxNewTCB->pxStack == NULL )
\r
1853 /* Could not allocate the stack. Delete the allocated TCB. */
\r
1854 vPortFree( pxNewTCB );
\r
1859 /* Just to help debugging. */
\r
1860 memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
\r
1866 /*-----------------------------------------------------------*/
\r
1868 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1870 static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus )
\r
1872 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
1873 static portCHAR pcStatusString[ 50 ];
\r
1874 unsigned portSHORT usStackRemaining;
\r
1876 /* Write the details of all the TCB's in pxList into the buffer. */
\r
1877 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
1880 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
1881 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned portCHAR * ) pxNextTCB->pxStack );
\r
1882 sprintf( pcStatusString, ( portCHAR * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
\r
1883 strcat( ( portCHAR * ) pcWriteBuffer, ( portCHAR * ) pcStatusString );
\r
1885 } while( pxNextTCB != pxFirstTCB );
\r
1889 /*-----------------------------------------------------------*/
\r
1891 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
1893 unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte )
\r
1895 register unsigned portSHORT usCount = 0;
\r
1897 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
1899 pucStackByte -= portSTACK_GROWTH;
\r
1903 usCount /= sizeof( portSTACK_TYPE );
\r
1909 /*-----------------------------------------------------------*/
\r
1911 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
1913 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
1917 pxTCB = prvGetTCBFromHandle( xTask );
\r
1918 return usTaskCheckFreeStackSpace( ( unsigned portCHAR * ) pxTCB->pxStack );
\r
1922 /*-----------------------------------------------------------*/
\r
1924 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
\r
1926 static void prvDeleteTCB( tskTCB *pxTCB )
\r
1928 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
1929 the task to free any memory allocated at the application level. */
\r
1930 vPortFree( pxTCB->pxStack );
\r
1931 vPortFree( pxTCB );
\r
1937 /*-----------------------------------------------------------*/
\r
1939 #if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
\r
1941 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
1943 xTaskHandle xReturn;
\r
1945 portENTER_CRITICAL();
\r
1947 xReturn = ( xTaskHandle ) pxCurrentTCB;
\r
1949 portEXIT_CRITICAL();
\r
1956 /*-----------------------------------------------------------*/
\r
1958 #if ( INCLUDE_xTaskGetSchedulerState == 1 )
\r
1960 portBASE_TYPE xTaskGetSchedulerState( void )
\r
1962 portBASE_TYPE xReturn;
\r
1964 if( xSchedulerRunning == pdFALSE )
\r
1966 xReturn = taskSCHEDULER_NOT_STARTED;
\r
1970 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1972 xReturn = taskSCHEDULER_RUNNING;
\r
1976 xReturn = taskSCHEDULER_SUSPENDED;
\r
1984 /*-----------------------------------------------------------*/
\r
1986 #if ( configUSE_MUTEXES == 1 )
\r
1988 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
1990 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
1992 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
1994 /* Adjust the mutex holder state to account for its new priority. */
\r
1995 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
1997 /* If the task being modified is in the ready state it will need to
\r
1998 be moved in to a new list. */
\r
1999 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
2001 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2003 /* Inherit the priority before being moved into the new list. */
\r
2004 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2005 prvAddTaskToReadyQueue( pxTCB );
\r
2009 /* Just inherit the priority. */
\r
2010 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2016 /*-----------------------------------------------------------*/
\r
2018 #if ( configUSE_MUTEXES == 1 )
\r
2020 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2022 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2024 if( pxMutexHolder != NULL )
\r
2026 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2028 /* We must be the running task to be able to give the mutex back.
\r
2029 Remove ourselves from the ready list we currently appear in. */
\r
2030 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2032 /* Disinherit the priority before adding ourselves into the new
\r
2034 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2035 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2036 prvAddTaskToReadyQueue( pxTCB );
\r
2042 /*-----------------------------------------------------------*/
\r
2044 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2046 void vTaskEnterCritical( void )
\r
2048 portDISABLE_INTERRUPTS();
\r
2050 if( xSchedulerRunning != pdFALSE )
\r
2052 pxCurrentTCB->uxCriticalNesting++;
\r
2057 /*-----------------------------------------------------------*/
\r
2059 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2061 void vTaskExitCritical( void )
\r
2063 if( xSchedulerRunning != pdFALSE )
\r
2065 if( pxCurrentTCB->uxCriticalNesting > 0 )
\r
2067 pxCurrentTCB->uxCriticalNesting--;
\r
2069 if( pxCurrentTCB->uxCriticalNesting == 0 )
\r
2071 portENABLE_INTERRUPTS();
\r
2078 /*-----------------------------------------------------------*/
\r