2 FreeRTOS V7.1.0 - Copyright (C) 2011 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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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 modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or 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 stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
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104 unsigned portBASE_TYPE uxTaskNumber; /*< This stores a number specifically for use by third party trace code. */
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107 #if ( configUSE_MUTEXES == 1 )
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108 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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111 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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112 pdTASK_HOOK_CODE pxTaskTag;
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115 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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116 unsigned long ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
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123 * Some kernel aware debuggers require data to be viewed to be global, rather
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126 #ifdef portREMOVE_STATIC_QUALIFIER
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131 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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133 /* Lists for ready and blocked tasks. --------------------*/
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135 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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136 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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137 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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138 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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139 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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140 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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142 #if ( INCLUDE_vTaskDelete == 1 )
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144 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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145 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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149 #if ( INCLUDE_vTaskSuspend == 1 )
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151 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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155 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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157 PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL;
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161 /* File private variables. --------------------------------*/
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162 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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163 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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164 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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165 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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166 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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167 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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168 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0U;
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169 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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170 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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171 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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172 PRIVILEGED_DATA static portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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174 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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176 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
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177 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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178 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
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182 /* Debugging and trace facilities private variables and macros. ------------*/
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185 * The value used to fill the stack of a task when the task is created. This
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186 * is used purely for checking the high water mark for tasks.
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188 #define tskSTACK_FILL_BYTE ( 0xa5U )
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191 * Macros used by vListTask to indicate which state a task is in.
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193 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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194 #define tskREADY_CHAR ( ( signed char ) 'R' )
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195 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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196 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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198 /*-----------------------------------------------------------*/
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201 * Place the task represented by pxTCB into the appropriate ready queue for
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202 * the task. It is inserted at the end of the list. One quirk of this is
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203 * that if the task being inserted is at the same priority as the currently
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204 * executing task, then it will only be rescheduled after the currently
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205 * executing task has been rescheduled.
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207 #define prvAddTaskToReadyQueue( pxTCB ) \
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208 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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209 if( ( pxTCB )->uxPriority > uxTopReadyPriority ) \
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211 uxTopReadyPriority = ( pxTCB )->uxPriority; \
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213 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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214 /*-----------------------------------------------------------*/
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217 * Macro that looks at the list of tasks that are currently delayed to see if
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218 * any require waking.
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220 * Tasks are stored in the queue in the order of their wake time - meaning
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221 * once one tasks has been found whose timer has not expired we need not look
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222 * any further down the list.
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224 #define prvCheckDelayedTasks() \
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226 portTickType xItemValue; \
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228 /* Is the tick count greater than or equal to the wake time of the first \
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229 task referenced from the delayed tasks list? */ \
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230 if( xTickCount >= xNextTaskUnblockTime ) \
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234 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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236 /* The delayed list is empty. Set xNextTaskUnblockTime to the \
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237 maximum possible value so it is extremely unlikely that the \
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238 if( xTickCount >= xNextTaskUnblockTime ) test will pass next \
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240 xNextTaskUnblockTime = portMAX_DELAY; \
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245 /* The delayed list is not empty, get the value of the item at \
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246 the head of the delayed list. This is the time at which the \
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247 task at the head of the delayed list should be removed from \
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248 the Blocked state. */ \
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249 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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250 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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252 if( xTickCount < xItemValue ) \
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254 /* It is not time to unblock this item yet, but the item \
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255 value is the time at which the task at the head of the \
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256 blocked list should be removed from the Blocked state - \
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257 so record the item value in xNextTaskUnblockTime. */ \
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258 xNextTaskUnblockTime = xItemValue; \
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262 /* It is time to remove the item from the Blocked state. */ \
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263 vListRemove( &( pxTCB->xGenericListItem ) ); \
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265 /* Is the task waiting on an event also? */ \
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266 if( pxTCB->xEventListItem.pvContainer != NULL ) \
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268 vListRemove( &( pxTCB->xEventListItem ) ); \
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270 prvAddTaskToReadyQueue( pxTCB ); \
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275 /*-----------------------------------------------------------*/
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278 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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279 * where NULL is used to indicate that the handle of the currently executing
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280 * task should be used in place of the parameter. This macro simply checks to
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281 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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283 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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285 /* Callback function prototypes. --------------------------*/
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286 extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );
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287 extern void vApplicationTickHook( void );
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289 /* File private functions. --------------------------------*/
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292 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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293 * into the TCB structure.
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295 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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298 * Utility to ready all the lists used by the scheduler. This is called
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299 * automatically upon the creation of the first task.
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301 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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304 * The idle task, which as all tasks is implemented as a never ending loop.
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305 * The idle task is automatically created and added to the ready lists upon
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306 * creation of the first user task.
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308 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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309 * language extensions. The equivalent prototype for this function is:
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311 * void prvIdleTask( void *pvParameters );
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314 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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317 * Utility to free all memory allocated by the scheduler to hold a TCB,
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318 * including the stack pointed to by the TCB.
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320 * This does not free memory allocated by the task itself (i.e. memory
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321 * allocated by calls to pvPortMalloc from within the tasks application code).
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323 #if ( INCLUDE_vTaskDelete == 1 )
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325 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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330 * Used only by the idle task. This checks to see if anything has been placed
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331 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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332 * and its TCB deleted.
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334 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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337 * The currently executing task is entering the Blocked state. Add the task to
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338 * either the current or the overflow delayed task list.
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340 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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343 * Allocates memory from the heap for a TCB and associated stack. Checks the
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344 * allocation was successful.
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346 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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349 * Called from vTaskList. vListTasks details all the tasks currently under
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350 * control of the scheduler. The tasks may be in one of a number of lists.
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351 * prvListTaskWithinSingleList accepts a list and details the tasks from
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352 * within just that list.
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354 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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355 * NORMAL APPLICATION CODE.
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357 #if ( configUSE_TRACE_FACILITY == 1 )
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359 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
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364 * When a task is created, the stack of the task is filled with a known value.
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365 * This function determines the 'high water mark' of the task stack by
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366 * determining how much of the stack remains at the original preset value.
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368 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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370 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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379 /*-----------------------------------------------------------
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380 * TASK CREATION API documented in task.h
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381 *----------------------------------------------------------*/
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383 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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385 signed portBASE_TYPE xReturn;
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388 configASSERT( pxTaskCode );
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389 configASSERT( ( uxPriority < configMAX_PRIORITIES ) );
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391 /* Allocate the memory required by the TCB and stack for the new task,
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392 checking that the allocation was successful. */
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393 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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395 if( pxNewTCB != NULL )
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397 portSTACK_TYPE *pxTopOfStack;
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399 #if( portUSING_MPU_WRAPPERS == 1 )
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400 /* Should the task be created in privileged mode? */
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401 portBASE_TYPE xRunPrivileged;
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402 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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404 xRunPrivileged = pdTRUE;
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408 xRunPrivileged = pdFALSE;
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410 uxPriority &= ~portPRIVILEGE_BIT;
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411 #endif /* portUSING_MPU_WRAPPERS == 1 */
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413 /* Calculate the top of stack address. This depends on whether the
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414 stack grows from high memory to low (as per the 80x86) or visa versa.
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415 portSTACK_GROWTH is used to make the result positive or negative as
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416 required by the port. */
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417 #if( portSTACK_GROWTH < 0 )
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419 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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420 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
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422 /* Check the alignment of the calculated top of stack is correct. */
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423 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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427 pxTopOfStack = pxNewTCB->pxStack;
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429 /* Check the alignment of the stack buffer is correct. */
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430 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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432 /* If we want to use stack checking on architectures that use
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433 a positive stack growth direction then we also need to store the
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434 other extreme of the stack space. */
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435 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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439 /* Setup the newly allocated TCB with the initial state of the task. */
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440 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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442 /* Initialize the TCB stack to look as if the task was already running,
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443 but had been interrupted by the scheduler. The return address is set
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444 to the start of the task function. Once the stack has been initialised
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445 the top of stack variable is updated. */
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446 #if( portUSING_MPU_WRAPPERS == 1 )
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448 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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452 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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456 /* Check the alignment of the initialised stack. */
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457 portALIGNMENT_ASSERT_pxCurrentTCB( ( ( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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459 if( ( void * ) pxCreatedTask != NULL )
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461 /* Pass the TCB out - in an anonymous way. The calling function/
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462 task can use this as a handle to delete the task later if
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464 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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467 /* We are going to manipulate the task queues to add this task to a
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468 ready list, so must make sure no interrupts occur. */
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469 taskENTER_CRITICAL();
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471 uxCurrentNumberOfTasks++;
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472 if( pxCurrentTCB == NULL )
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474 /* There are no other tasks, or all the other tasks are in
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475 the suspended state - make this the current task. */
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476 pxCurrentTCB = pxNewTCB;
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478 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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480 /* This is the first task to be created so do the preliminary
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481 initialisation required. We will not recover if this call
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482 fails, but we will report the failure. */
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483 prvInitialiseTaskLists();
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488 /* If the scheduler is not already running, make this task the
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489 current task if it is the highest priority task to be created
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491 if( xSchedulerRunning == pdFALSE )
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493 if( pxCurrentTCB->uxPriority <= uxPriority )
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495 pxCurrentTCB = pxNewTCB;
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500 /* Remember the top priority to make context switching faster. Use
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501 the priority in pxNewTCB as this has been capped to a valid value. */
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502 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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504 uxTopUsedPriority = pxNewTCB->uxPriority;
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507 #if ( configUSE_TRACE_FACILITY == 1 )
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509 /* Add a counter into the TCB for tracing only. */
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510 pxNewTCB->uxTCBNumber = uxTaskNumber;
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515 prvAddTaskToReadyQueue( pxNewTCB );
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518 portSETUP_TCB( pxNewTCB );
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519 traceTASK_CREATE( pxNewTCB );
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521 taskEXIT_CRITICAL();
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525 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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526 traceTASK_CREATE_FAILED();
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529 if( xReturn == pdPASS )
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531 if( xSchedulerRunning != pdFALSE )
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533 /* If the created task is of a higher priority than the current task
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534 then it should run now. */
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535 if( pxCurrentTCB->uxPriority < uxPriority )
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537 portYIELD_WITHIN_API();
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544 /*-----------------------------------------------------------*/
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546 #if ( INCLUDE_vTaskDelete == 1 )
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548 void vTaskDelete( xTaskHandle pxTaskToDelete )
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552 taskENTER_CRITICAL();
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554 /* Ensure a yield is performed if the current task is being
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556 if( pxTaskToDelete == pxCurrentTCB )
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558 pxTaskToDelete = NULL;
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561 /* If null is passed in here then we are deleting ourselves. */
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562 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
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564 /* Remove task from the ready list and place in the termination list.
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565 This will stop the task from be scheduled. The idle task will check
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566 the termination list and free up any memory allocated by the
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567 scheduler for the TCB and stack. */
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568 vListRemove( &( pxTCB->xGenericListItem ) );
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570 /* Is the task waiting on an event also? */
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571 if( pxTCB->xEventListItem.pvContainer != NULL )
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573 vListRemove( &( pxTCB->xEventListItem ) );
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576 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
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578 /* Increment the ucTasksDeleted variable so the idle task knows
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579 there is a task that has been deleted and that it should therefore
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580 check the xTasksWaitingTermination list. */
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583 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
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584 can detect that the task lists need re-generating. */
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587 traceTASK_DELETE( pxTCB );
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589 taskEXIT_CRITICAL();
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591 /* Force a reschedule if we have just deleted the current task. */
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592 if( xSchedulerRunning != pdFALSE )
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594 if( ( void * ) pxTaskToDelete == NULL )
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596 portYIELD_WITHIN_API();
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608 /*-----------------------------------------------------------
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609 * TASK CONTROL API documented in task.h
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610 *----------------------------------------------------------*/
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612 #if ( INCLUDE_vTaskDelayUntil == 1 )
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614 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
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616 portTickType xTimeToWake;
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617 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
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619 configASSERT( pxPreviousWakeTime );
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620 configASSERT( ( xTimeIncrement > 0U ) );
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624 /* Generate the tick time at which the task wants to wake. */
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625 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
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627 if( xTickCount < *pxPreviousWakeTime )
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629 /* The tick count has overflowed since this function was
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630 lasted called. In this case the only time we should ever
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631 actually delay is if the wake time has also overflowed,
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632 and the wake time is greater than the tick time. When this
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633 is the case it is as if neither time had overflowed. */
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634 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
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636 xShouldDelay = pdTRUE;
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641 /* The tick time has not overflowed. In this case we will
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642 delay if either the wake time has overflowed, and/or the
\r
643 tick time is less than the wake time. */
\r
644 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
646 xShouldDelay = pdTRUE;
\r
650 /* Update the wake time ready for the next call. */
\r
651 *pxPreviousWakeTime = xTimeToWake;
\r
653 if( xShouldDelay != pdFALSE )
\r
655 traceTASK_DELAY_UNTIL();
\r
657 /* We must remove ourselves from the ready list before adding
\r
658 ourselves to the blocked list as the same list item is used for
\r
660 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
661 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
664 xAlreadyYielded = xTaskResumeAll();
\r
666 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
667 have put ourselves to sleep. */
\r
668 if( xAlreadyYielded == pdFALSE )
\r
670 portYIELD_WITHIN_API();
\r
675 /*-----------------------------------------------------------*/
\r
677 #if ( INCLUDE_vTaskDelay == 1 )
\r
679 void vTaskDelay( portTickType xTicksToDelay )
\r
681 portTickType xTimeToWake;
\r
682 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
684 /* A delay time of zero just forces a reschedule. */
\r
685 if( xTicksToDelay > ( portTickType ) 0U )
\r
691 /* A task that is removed from the event list while the
\r
692 scheduler is suspended will not get placed in the ready
\r
693 list or removed from the blocked list until the scheduler
\r
696 This task cannot be in an event list as it is the currently
\r
699 /* Calculate the time to wake - this may overflow but this is
\r
701 xTimeToWake = xTickCount + xTicksToDelay;
\r
703 /* We must remove ourselves from the ready list before adding
\r
704 ourselves to the blocked list as the same list item is used for
\r
706 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
707 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
709 xAlreadyYielded = xTaskResumeAll();
\r
712 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
713 have put ourselves to sleep. */
\r
714 if( xAlreadyYielded == pdFALSE )
\r
716 portYIELD_WITHIN_API();
\r
721 /*-----------------------------------------------------------*/
\r
723 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
725 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
728 unsigned portBASE_TYPE uxReturn;
\r
730 taskENTER_CRITICAL();
\r
732 /* If null is passed in here then we are changing the
\r
733 priority of the calling function. */
\r
734 pxTCB = prvGetTCBFromHandle( pxTask );
\r
735 uxReturn = pxTCB->uxPriority;
\r
737 taskEXIT_CRITICAL();
\r
743 /*-----------------------------------------------------------*/
\r
745 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
747 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
750 unsigned portBASE_TYPE uxCurrentPriority;
\r
751 portBASE_TYPE xYieldRequired = pdFALSE;
\r
753 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
755 /* Ensure the new priority is valid. */
\r
756 if( uxNewPriority >= configMAX_PRIORITIES )
\r
758 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
761 taskENTER_CRITICAL();
\r
763 if( pxTask == pxCurrentTCB )
\r
768 /* If null is passed in here then we are changing the
\r
769 priority of the calling function. */
\r
770 pxTCB = prvGetTCBFromHandle( pxTask );
\r
772 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
774 #if ( configUSE_MUTEXES == 1 )
\r
776 uxCurrentPriority = pxTCB->uxBasePriority;
\r
780 uxCurrentPriority = pxTCB->uxPriority;
\r
784 if( uxCurrentPriority != uxNewPriority )
\r
786 /* The priority change may have readied a task of higher
\r
787 priority than the calling task. */
\r
788 if( uxNewPriority > uxCurrentPriority )
\r
790 if( pxTask != NULL )
\r
792 /* The priority of another task is being raised. If we
\r
793 were raising the priority of the currently running task
\r
794 there would be no need to switch as it must have already
\r
795 been the highest priority task. */
\r
796 xYieldRequired = pdTRUE;
\r
799 else if( pxTask == NULL )
\r
801 /* Setting our own priority down means there may now be another
\r
802 task of higher priority that is ready to execute. */
\r
803 xYieldRequired = pdTRUE;
\r
808 #if ( configUSE_MUTEXES == 1 )
\r
810 /* Only change the priority being used if the task is not
\r
811 currently using an inherited priority. */
\r
812 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
814 pxTCB->uxPriority = uxNewPriority;
\r
817 /* The base priority gets set whatever. */
\r
818 pxTCB->uxBasePriority = uxNewPriority;
\r
822 pxTCB->uxPriority = uxNewPriority;
\r
826 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
828 /* If the task is in the blocked or suspended list we need do
\r
829 nothing more than change it's priority variable. However, if
\r
830 the task is in a ready list it needs to be removed and placed
\r
831 in the queue appropriate to its new priority. */
\r
832 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
834 /* The task is currently in its ready list - remove before adding
\r
835 it to it's new ready list. As we are in a critical section we
\r
836 can do this even if the scheduler is suspended. */
\r
837 vListRemove( &( pxTCB->xGenericListItem ) );
\r
838 prvAddTaskToReadyQueue( pxTCB );
\r
841 if( xYieldRequired == pdTRUE )
\r
843 portYIELD_WITHIN_API();
\r
847 taskEXIT_CRITICAL();
\r
851 /*-----------------------------------------------------------*/
\r
853 #if ( INCLUDE_vTaskSuspend == 1 )
\r
855 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
859 taskENTER_CRITICAL();
\r
861 /* Ensure a yield is performed if the current task is being
\r
863 if( pxTaskToSuspend == pxCurrentTCB )
\r
865 pxTaskToSuspend = NULL;
\r
868 /* If null is passed in here then we are suspending ourselves. */
\r
869 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
871 traceTASK_SUSPEND( pxTCB );
\r
873 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
874 vListRemove( &( pxTCB->xGenericListItem ) );
\r
876 /* Is the task waiting on an event also? */
\r
877 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
879 vListRemove( &( pxTCB->xEventListItem ) );
\r
882 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
884 taskEXIT_CRITICAL();
\r
886 if( ( void * ) pxTaskToSuspend == NULL )
\r
888 if( xSchedulerRunning != pdFALSE )
\r
890 /* We have just suspended the current task. */
\r
891 portYIELD_WITHIN_API();
\r
895 /* The scheduler is not running, but the task that was pointed
\r
896 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
897 must be adjusted to point to a different task. */
\r
898 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
900 /* No other tasks are ready, so set pxCurrentTCB back to
\r
901 NULL so when the next task is created pxCurrentTCB will
\r
902 be set to point to it no matter what its relative priority
\r
904 pxCurrentTCB = NULL;
\r
908 vTaskSwitchContext();
\r
915 /*-----------------------------------------------------------*/
\r
917 #if ( INCLUDE_vTaskSuspend == 1 )
\r
919 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
921 portBASE_TYPE xReturn = pdFALSE;
\r
922 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
924 /* It does not make sense to check if the calling task is suspended. */
\r
925 configASSERT( xTask );
\r
927 /* Is the task we are attempting to resume actually in the
\r
929 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
931 /* Has the task already been resumed from within an ISR? */
\r
932 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
934 /* Is it in the suspended list because it is in the
\r
935 Suspended state? It is possible to be in the suspended
\r
936 list because it is blocked on a task with no timeout
\r
938 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
949 /*-----------------------------------------------------------*/
\r
951 #if ( INCLUDE_vTaskSuspend == 1 )
\r
953 void vTaskResume( xTaskHandle pxTaskToResume )
\r
957 /* It does not make sense to resume the calling task. */
\r
958 configASSERT( pxTaskToResume );
\r
960 /* Remove the task from whichever list it is currently in, and place
\r
961 it in the ready list. */
\r
962 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
964 /* The parameter cannot be NULL as it is impossible to resume the
\r
965 currently executing task. */
\r
966 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
968 taskENTER_CRITICAL();
\r
970 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
972 traceTASK_RESUME( pxTCB );
\r
974 /* As we are in a critical section we can access the ready
\r
975 lists even if the scheduler is suspended. */
\r
976 vListRemove( &( pxTCB->xGenericListItem ) );
\r
977 prvAddTaskToReadyQueue( pxTCB );
\r
979 /* We may have just resumed a higher priority task. */
\r
980 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
982 /* This yield may not cause the task just resumed to run, but
\r
983 will leave the lists in the correct state for the next yield. */
\r
984 portYIELD_WITHIN_API();
\r
988 taskEXIT_CRITICAL();
\r
994 /*-----------------------------------------------------------*/
\r
996 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
998 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
1000 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1002 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1004 configASSERT( pxTaskToResume );
\r
1006 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1008 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1010 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1012 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1014 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1016 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1017 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1018 prvAddTaskToReadyQueue( pxTCB );
\r
1022 /* We cannot access the delayed or ready lists, so will hold this
\r
1023 task pending until the scheduler is resumed, at which point a
\r
1024 yield will be performed if necessary. */
\r
1025 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1029 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1031 return xYieldRequired;
\r
1039 /*-----------------------------------------------------------
\r
1040 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1041 *----------------------------------------------------------*/
\r
1044 void vTaskStartScheduler( void )
\r
1046 portBASE_TYPE xReturn;
\r
1048 /* Add the idle task at the lowest priority. */
\r
1049 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1051 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1052 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1053 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );
\r
1057 /* Create the idle task without storing its handle. */
\r
1058 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
\r
1062 #if ( configUSE_TIMERS == 1 )
\r
1064 if( xReturn == pdPASS )
\r
1066 xReturn = xTimerCreateTimerTask();
\r
1071 if( xReturn == pdPASS )
\r
1073 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1074 before or during the call to xPortStartScheduler(). The stacks of
\r
1075 the created tasks contain a status word with interrupts switched on
\r
1076 so interrupts will automatically get re-enabled when the first task
\r
1079 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1080 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1081 portDISABLE_INTERRUPTS();
\r
1083 xSchedulerRunning = pdTRUE;
\r
1084 xTickCount = ( portTickType ) 0U;
\r
1086 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1087 macro must be defined to configure the timer/counter used to generate
\r
1088 the run time counter time base. */
\r
1089 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1091 /* Setting up the timer tick is hardware specific and thus in the
\r
1092 portable interface. */
\r
1093 if( xPortStartScheduler() != pdFALSE )
\r
1095 /* Should not reach here as if the scheduler is running the
\r
1096 function will not return. */
\r
1100 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1104 /* This line will only be reached if the kernel could not be started. */
\r
1105 configASSERT( xReturn );
\r
1107 /*-----------------------------------------------------------*/
\r
1109 void vTaskEndScheduler( void )
\r
1111 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1112 routine so the original ISRs can be restored if necessary. The port
\r
1113 layer must ensure interrupts enable bit is left in the correct state. */
\r
1114 portDISABLE_INTERRUPTS();
\r
1115 xSchedulerRunning = pdFALSE;
\r
1116 vPortEndScheduler();
\r
1118 /*----------------------------------------------------------*/
\r
1120 void vTaskSuspendAll( void )
\r
1122 /* A critical section is not required as the variable is of type
\r
1124 ++uxSchedulerSuspended;
\r
1126 /*----------------------------------------------------------*/
\r
1128 signed portBASE_TYPE xTaskResumeAll( void )
\r
1130 register tskTCB *pxTCB;
\r
1131 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1133 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1134 previous call to vTaskSuspendAll(). */
\r
1135 configASSERT( uxSchedulerSuspended );
\r
1137 /* It is possible that an ISR caused a task to be removed from an event
\r
1138 list while the scheduler was suspended. If this was the case then the
\r
1139 removed task will have been added to the xPendingReadyList. Once the
\r
1140 scheduler has been resumed it is safe to move all the pending ready
\r
1141 tasks from this list into their appropriate ready list. */
\r
1142 taskENTER_CRITICAL();
\r
1144 --uxSchedulerSuspended;
\r
1146 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1148 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1150 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1152 /* Move any readied tasks from the pending list into the
\r
1153 appropriate ready list. */
\r
1154 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1156 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1157 vListRemove( &( pxTCB->xEventListItem ) );
\r
1158 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1159 prvAddTaskToReadyQueue( pxTCB );
\r
1161 /* If we have moved a task that has a priority higher than
\r
1162 the current task then we should yield. */
\r
1163 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1165 xYieldRequired = pdTRUE;
\r
1169 /* If any ticks occurred while the scheduler was suspended then
\r
1170 they should be processed now. This ensures the tick count does not
\r
1171 slip, and that any delayed tasks are resumed at the correct time. */
\r
1172 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1174 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1176 vTaskIncrementTick();
\r
1180 /* As we have processed some ticks it is appropriate to yield
\r
1181 to ensure the highest priority task that is ready to run is
\r
1182 the task actually running. */
\r
1183 #if configUSE_PREEMPTION == 1
\r
1185 xYieldRequired = pdTRUE;
\r
1190 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1192 xAlreadyYielded = pdTRUE;
\r
1193 xMissedYield = pdFALSE;
\r
1194 portYIELD_WITHIN_API();
\r
1199 taskEXIT_CRITICAL();
\r
1201 return xAlreadyYielded;
\r
1209 /*-----------------------------------------------------------
\r
1210 * PUBLIC TASK UTILITIES documented in task.h
\r
1211 *----------------------------------------------------------*/
\r
1215 portTickType xTaskGetTickCount( void )
\r
1217 portTickType xTicks;
\r
1219 /* Critical section required if running on a 16 bit processor. */
\r
1220 taskENTER_CRITICAL();
\r
1222 xTicks = xTickCount;
\r
1224 taskEXIT_CRITICAL();
\r
1228 /*-----------------------------------------------------------*/
\r
1230 portTickType xTaskGetTickCountFromISR( void )
\r
1232 portTickType xReturn;
\r
1233 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1235 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1236 xReturn = xTickCount;
\r
1237 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1241 /*-----------------------------------------------------------*/
\r
1243 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1245 /* A critical section is not required because the variables are of type
\r
1247 return uxCurrentNumberOfTasks;
\r
1249 /*-----------------------------------------------------------*/
\r
1251 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1253 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1257 /* If null is passed in here then the name of the calling task is being queried. */
\r
1258 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1259 configASSERT( pxTCB );
\r
1260 return &( pxTCB->pcTaskName[ 0 ] );
\r
1264 /*-----------------------------------------------------------*/
\r
1266 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1268 void vTaskList( signed char *pcWriteBuffer )
\r
1270 unsigned portBASE_TYPE uxQueue;
\r
1272 /* This is a VERY costly function that should be used for debug only.
\r
1273 It leaves interrupts disabled for a LONG time. */
\r
1275 vTaskSuspendAll();
\r
1277 /* Run through all the lists that could potentially contain a TCB and
\r
1278 report the task name, state and stack high water mark. */
\r
1280 *pcWriteBuffer = ( signed char ) 0x00;
\r
1281 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1283 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1289 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1291 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1293 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1295 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1297 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1300 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1302 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1305 #if( INCLUDE_vTaskDelete == 1 )
\r
1307 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1309 prvListTaskWithinSingleList( pcWriteBuffer, &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1314 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1316 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1318 prvListTaskWithinSingleList( pcWriteBuffer, &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1327 /*----------------------------------------------------------*/
\r
1329 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1331 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1333 unsigned portBASE_TYPE uxQueue;
\r
1334 unsigned long ulTotalRunTime;
\r
1336 /* This is a VERY costly function that should be used for debug only.
\r
1337 It leaves interrupts disabled for a LONG time. */
\r
1339 vTaskSuspendAll();
\r
1341 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1342 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1344 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1347 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1348 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1349 ulTotalRunTime /= 100UL;
\r
1351 /* Run through all the lists that could potentially contain a TCB,
\r
1352 generating a table of run timer percentages in the provided
\r
1355 *pcWriteBuffer = ( signed char ) 0x00;
\r
1356 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1358 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1364 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1366 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
\r
1368 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1370 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1372 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
\r
1375 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1377 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
\r
1380 #if ( INCLUDE_vTaskDelete == 1 )
\r
1382 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1384 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTime );
\r
1389 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1391 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1393 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTime );
\r
1402 /*----------------------------------------------------------*/
\r
1404 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1406 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1408 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1409 started, then xIdleTaskHandle will be NULL. */
\r
1410 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1411 return xIdleTaskHandle;
\r
1416 /*-----------------------------------------------------------
\r
1417 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1418 * documented in task.h
\r
1419 *----------------------------------------------------------*/
\r
1421 void vTaskIncrementTick( void )
\r
1425 /* Called by the portable layer each time a tick interrupt occurs.
\r
1426 Increments the tick then checks to see if the new tick value will cause any
\r
1427 tasks to be unblocked. */
\r
1428 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1431 if( xTickCount == ( portTickType ) 0U )
\r
1435 /* Tick count has overflowed so we need to swap the delay lists.
\r
1436 If there are any items in pxDelayedTaskList here then there is
\r
1438 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );
\r
1440 pxTemp = pxDelayedTaskList;
\r
1441 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1442 pxOverflowDelayedTaskList = pxTemp;
\r
1443 xNumOfOverflows++;
\r
1445 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1447 /* The new current delayed list is empty. Set
\r
1448 xNextTaskUnblockTime to the maximum possible value so it is
\r
1449 extremely unlikely that the
\r
1450 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
1451 there is an item in the delayed list. */
\r
1452 xNextTaskUnblockTime = portMAX_DELAY;
\r
1456 /* The new current delayed list is not empty, get the value of
\r
1457 the item at the head of the delayed list. This is the time at
\r
1458 which the task at the head of the delayed list should be removed
\r
1459 from the Blocked state. */
\r
1460 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1461 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1465 /* See if this tick has made a timeout expire. */
\r
1466 prvCheckDelayedTasks();
\r
1472 /* The tick hook gets called at regular intervals, even if the
\r
1473 scheduler is locked. */
\r
1474 #if ( configUSE_TICK_HOOK == 1 )
\r
1476 vApplicationTickHook();
\r
1481 #if ( configUSE_TICK_HOOK == 1 )
\r
1483 /* Guard against the tick hook being called when the missed tick
\r
1484 count is being unwound (when the scheduler is being unlocked. */
\r
1485 if( uxMissedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1487 vApplicationTickHook();
\r
1492 traceTASK_INCREMENT_TICK( xTickCount );
\r
1494 /*-----------------------------------------------------------*/
\r
1496 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1498 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1502 /* If xTask is NULL then we are setting our own task hook. */
\r
1503 if( xTask == NULL )
\r
1505 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1509 xTCB = ( tskTCB * ) xTask;
\r
1512 /* Save the hook function in the TCB. A critical section is required as
\r
1513 the value can be accessed from an interrupt. */
\r
1514 taskENTER_CRITICAL();
\r
1515 xTCB->pxTaskTag = pxHookFunction;
\r
1516 taskEXIT_CRITICAL();
\r
1520 /*-----------------------------------------------------------*/
\r
1522 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1524 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1527 pdTASK_HOOK_CODE xReturn;
\r
1529 /* If xTask is NULL then we are setting our own task hook. */
\r
1530 if( xTask == NULL )
\r
1532 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1536 xTCB = ( tskTCB * ) xTask;
\r
1539 /* Save the hook function in the TCB. A critical section is required as
\r
1540 the value can be accessed from an interrupt. */
\r
1541 taskENTER_CRITICAL();
\r
1542 xReturn = xTCB->pxTaskTag;
\r
1543 taskEXIT_CRITICAL();
\r
1549 /*-----------------------------------------------------------*/
\r
1551 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1553 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1556 portBASE_TYPE xReturn;
\r
1558 /* If xTask is NULL then we are calling our own task hook. */
\r
1559 if( xTask == NULL )
\r
1561 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1565 xTCB = ( tskTCB * ) xTask;
\r
1568 if( xTCB->pxTaskTag != NULL )
\r
1570 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1581 /*-----------------------------------------------------------*/
\r
1583 void vTaskSwitchContext( void )
\r
1585 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1587 /* The scheduler is currently suspended - do not allow a context
\r
1589 xMissedYield = pdTRUE;
\r
1593 traceTASK_SWITCHED_OUT();
\r
1595 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1597 unsigned long ulTempCounter;
\r
1599 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1600 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter );
\r
1602 ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
\r
1605 /* Add the amount of time the task has been running to the accumulated
\r
1606 time so far. The time the task started running was stored in
\r
1607 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1608 so count values are only valid until the timer overflows. Generally
\r
1609 this will be about 1 hour assuming a 1uS timer increment. */
\r
1610 pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
\r
1611 ulTaskSwitchedInTime = ulTempCounter;
\r
1615 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1616 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1618 /* Find the highest priority queue that contains ready tasks. */
\r
1619 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1621 configASSERT( uxTopReadyPriority );
\r
1622 --uxTopReadyPriority;
\r
1625 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1626 same priority get an equal share of the processor time. */
\r
1627 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1629 traceTASK_SWITCHED_IN();
\r
1632 /*-----------------------------------------------------------*/
\r
1634 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1636 portTickType xTimeToWake;
\r
1638 configASSERT( pxEventList );
\r
1640 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1641 SCHEDULER SUSPENDED. */
\r
1643 /* Place the event list item of the TCB in the appropriate event list.
\r
1644 This is placed in the list in priority order so the highest priority task
\r
1645 is the first to be woken by the event. */
\r
1646 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1648 /* We must remove ourselves from the ready list before adding ourselves
\r
1649 to the blocked list as the same list item is used for both lists. We have
\r
1650 exclusive access to the ready lists as the scheduler is locked. */
\r
1651 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1654 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1656 if( xTicksToWait == portMAX_DELAY )
\r
1658 /* Add ourselves to the suspended task list instead of a delayed task
\r
1659 list to ensure we are not woken by a timing event. We will block
\r
1661 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1665 /* Calculate the time at which the task should be woken if the event does
\r
1666 not occur. This may overflow but this doesn't matter. */
\r
1667 xTimeToWake = xTickCount + xTicksToWait;
\r
1668 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1673 /* Calculate the time at which the task should be woken if the event does
\r
1674 not occur. This may overflow but this doesn't matter. */
\r
1675 xTimeToWake = xTickCount + xTicksToWait;
\r
1676 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1680 /*-----------------------------------------------------------*/
\r
1682 #if configUSE_TIMERS == 1
\r
1684 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1686 portTickType xTimeToWake;
\r
1688 configASSERT( pxEventList );
\r
1690 /* This function should not be called by application code hence the
\r
1691 'Restricted' in its name. It is not part of the public API. It is
\r
1692 designed for use by kernel code, and has special calling requirements -
\r
1693 it should be called from a critical section. */
\r
1696 /* Place the event list item of the TCB in the appropriate event list.
\r
1697 In this case it is assume that this is the only task that is going to
\r
1698 be waiting on this event list, so the faster vListInsertEnd() function
\r
1699 can be used in place of vListInsert. */
\r
1700 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1702 /* We must remove this task from the ready list before adding it to the
\r
1703 blocked list as the same list item is used for both lists. This
\r
1704 function is called form a critical section. */
\r
1705 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1707 /* Calculate the time at which the task should be woken if the event does
\r
1708 not occur. This may overflow but this doesn't matter. */
\r
1709 xTimeToWake = xTickCount + xTicksToWait;
\r
1710 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1713 #endif /* configUSE_TIMERS */
\r
1714 /*-----------------------------------------------------------*/
\r
1716 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1718 tskTCB *pxUnblockedTCB;
\r
1719 portBASE_TYPE xReturn;
\r
1721 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1722 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1724 /* The event list is sorted in priority order, so we can remove the
\r
1725 first in the list, remove the TCB from the delayed list, and add
\r
1726 it to the ready list.
\r
1728 If an event is for a queue that is locked then this function will never
\r
1729 get called - the lock count on the queue will get modified instead. This
\r
1730 means we can always expect exclusive access to the event list here.
\r
1732 This function assumes that a check has already been made to ensure that
\r
1733 pxEventList is not empty. */
\r
1734 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1735 configASSERT( pxUnblockedTCB );
\r
1736 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1738 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1740 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1741 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1745 /* We cannot access the delayed or ready lists, so will hold this
\r
1746 task pending until the scheduler is resumed. */
\r
1747 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1750 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1752 /* Return true if the task removed from the event list has
\r
1753 a higher priority than the calling task. This allows
\r
1754 the calling task to know if it should force a context
\r
1760 xReturn = pdFALSE;
\r
1765 /*-----------------------------------------------------------*/
\r
1767 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1769 configASSERT( pxTimeOut );
\r
1770 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1771 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1773 /*-----------------------------------------------------------*/
\r
1775 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1777 portBASE_TYPE xReturn;
\r
1779 configASSERT( pxTimeOut );
\r
1780 configASSERT( pxTicksToWait );
\r
1782 taskENTER_CRITICAL();
\r
1784 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1785 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1786 the maximum block time then the task should block indefinitely, and
\r
1787 therefore never time out. */
\r
1788 if( *pxTicksToWait == portMAX_DELAY )
\r
1790 xReturn = pdFALSE;
\r
1792 else /* We are not blocking indefinitely, perform the checks below. */
\r
1795 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
1797 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1798 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1799 It must have wrapped all the way around and gone past us again. This
\r
1800 passed since vTaskSetTimeout() was called. */
\r
1803 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
1805 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1806 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
1807 vTaskSetTimeOutState( pxTimeOut );
\r
1808 xReturn = pdFALSE;
\r
1815 taskEXIT_CRITICAL();
\r
1819 /*-----------------------------------------------------------*/
\r
1821 void vTaskMissedYield( void )
\r
1823 xMissedYield = pdTRUE;
\r
1825 /*-----------------------------------------------------------*/
\r
1827 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1828 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
1830 unsigned portBASE_TYPE uxReturn;
\r
1833 if( xTask != NULL )
\r
1835 pxTCB = ( tskTCB * ) xTask;
\r
1836 uxReturn = pxTCB->uxTaskNumber;
\r
1846 /*-----------------------------------------------------------*/
\r
1848 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1849 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
1853 if( xTask != NULL )
\r
1855 pxTCB = ( tskTCB * ) xTask;
\r
1856 pxTCB->uxTaskNumber = uxHandle;
\r
1863 * -----------------------------------------------------------
\r
1865 * ----------------------------------------------------------
\r
1867 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1868 * language extensions. The equivalent prototype for this function is:
\r
1870 * void prvIdleTask( void *pvParameters );
\r
1873 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1875 /* Stop warnings. */
\r
1876 ( void ) pvParameters;
\r
1880 /* See if any tasks have been deleted. */
\r
1881 prvCheckTasksWaitingTermination();
\r
1883 #if ( configUSE_PREEMPTION == 0 )
\r
1885 /* If we are not using preemption we keep forcing a task switch to
\r
1886 see if any other task has become available. If we are using
\r
1887 preemption we don't need to do this as any task becoming available
\r
1888 will automatically get the processor anyway. */
\r
1893 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1895 /* When using preemption tasks of equal priority will be
\r
1896 timesliced. If a task that is sharing the idle priority is ready
\r
1897 to run then the idle task should yield before the end of the
\r
1900 A critical region is not required here as we are just reading from
\r
1901 the list, and an occasional incorrect value will not matter. If
\r
1902 the ready list at the idle priority contains more than one task
\r
1903 then a task other than the idle task is ready to execute. */
\r
1904 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1911 #if ( configUSE_IDLE_HOOK == 1 )
\r
1913 extern void vApplicationIdleHook( void );
\r
1915 /* Call the user defined function from within the idle task. This
\r
1916 allows the application designer to add background functionality
\r
1917 without the overhead of a separate task.
\r
1918 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1919 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1920 vApplicationIdleHook();
\r
1924 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1932 /*-----------------------------------------------------------
\r
1933 * File private functions documented at the top of the file.
\r
1934 *----------------------------------------------------------*/
\r
1938 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
1940 /* Store the function name in the TCB. */
\r
1941 #if configMAX_TASK_NAME_LEN > 1
\r
1943 /* Don't bring strncpy into the build unnecessarily. */
\r
1944 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
1947 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
\r
1949 /* This is used as an array index so must ensure it's not too large. First
\r
1950 remove the privilege bit if one is present. */
\r
1951 if( uxPriority >= configMAX_PRIORITIES )
\r
1953 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
1956 pxTCB->uxPriority = uxPriority;
\r
1957 #if ( configUSE_MUTEXES == 1 )
\r
1959 pxTCB->uxBasePriority = uxPriority;
\r
1963 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
1964 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
1966 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
1967 back to the containing TCB from a generic item in a list. */
\r
1968 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
1970 /* Event lists are always in priority order. */
\r
1971 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
1972 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
1974 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
1976 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
1980 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1982 pxTCB->pxTaskTag = NULL;
\r
1986 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1988 pxTCB->ulRunTimeCounter = 0UL;
\r
1992 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
1994 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
1998 ( void ) xRegions;
\r
1999 ( void ) usStackDepth;
\r
2003 /*-----------------------------------------------------------*/
\r
2005 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2007 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2011 if( xTaskToModify == pxCurrentTCB )
\r
2013 xTaskToModify = NULL;
\r
2016 /* If null is passed in here then we are deleting ourselves. */
\r
2017 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2019 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2021 /*-----------------------------------------------------------*/
\r
2024 static void prvInitialiseTaskLists( void )
\r
2026 unsigned portBASE_TYPE uxPriority;
\r
2028 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2030 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2033 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2034 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2035 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2037 #if ( INCLUDE_vTaskDelete == 1 )
\r
2039 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2043 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2045 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2049 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2051 pxDelayedTaskList = &xDelayedTaskList1;
\r
2052 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2054 /*-----------------------------------------------------------*/
\r
2056 static void prvCheckTasksWaitingTermination( void )
\r
2058 #if ( INCLUDE_vTaskDelete == 1 )
\r
2060 portBASE_TYPE xListIsEmpty;
\r
2062 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2063 too often in the idle task. */
\r
2064 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2066 vTaskSuspendAll();
\r
2067 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2070 if( xListIsEmpty == pdFALSE )
\r
2074 taskENTER_CRITICAL();
\r
2076 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2077 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2078 --uxCurrentNumberOfTasks;
\r
2081 taskEXIT_CRITICAL();
\r
2083 prvDeleteTCB( pxTCB );
\r
2089 /*-----------------------------------------------------------*/
\r
2091 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2093 /* The list item will be inserted in wake time order. */
\r
2094 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2096 if( xTimeToWake < xTickCount )
\r
2098 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2099 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2103 /* The wake time has not overflowed, so we can use the current block list. */
\r
2104 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2106 /* If the task entering the blocked state was placed at the head of the
\r
2107 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2109 if( xTimeToWake < xNextTaskUnblockTime )
\r
2111 xNextTaskUnblockTime = xTimeToWake;
\r
2115 /*-----------------------------------------------------------*/
\r
2117 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2121 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2122 the implementation of the port malloc function. */
\r
2123 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2125 if( pxNewTCB != NULL )
\r
2127 /* Allocate space for the stack used by the task being created.
\r
2128 The base of the stack memory stored in the TCB so the task can
\r
2129 be deleted later if required. */
\r
2130 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2132 if( pxNewTCB->pxStack == NULL )
\r
2134 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2135 vPortFree( pxNewTCB );
\r
2140 /* Just to help debugging. */
\r
2141 memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2147 /*-----------------------------------------------------------*/
\r
2149 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2151 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2153 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2154 unsigned short usStackRemaining;
\r
2155 PRIVILEGED_DATA static char pcStatusString[ 50 ];
\r
2157 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2158 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2161 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2162 #if ( portSTACK_GROWTH > 0 )
\r
2164 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2168 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2172 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
2173 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2175 } while( pxNextTCB != pxFirstTCB );
\r
2179 /*-----------------------------------------------------------*/
\r
2181 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2183 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
\r
2185 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2186 unsigned long ulStatsAsPercentage;
\r
2188 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2189 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2192 /* Get next TCB in from the list. */
\r
2193 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2195 /* Divide by zero check. */
\r
2196 if( ulTotalRunTime > 0UL )
\r
2198 /* Has the task run at all? */
\r
2199 if( pxNextTCB->ulRunTimeCounter == 0UL )
\r
2201 /* The task has used no CPU time at all. */
\r
2202 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2206 /* What percentage of the total run time has the task used?
\r
2207 This will always be rounded down to the nearest integer.
\r
2208 ulTotalRunTime has already been divided by 100. */
\r
2209 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime;
\r
2211 if( ulStatsAsPercentage > 0UL )
\r
2213 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2215 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2219 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2220 printf() library can be used. */
\r
2221 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2227 /* If the percentage is zero here then the task has
\r
2228 consumed less than 1% of the total run time. */
\r
2229 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2231 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2235 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2236 printf() library can be used. */
\r
2237 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2243 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2246 } while( pxNextTCB != pxFirstTCB );
\r
2250 /*-----------------------------------------------------------*/
\r
2252 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2254 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2256 register unsigned short usCount = 0U;
\r
2258 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2260 pucStackByte -= portSTACK_GROWTH;
\r
2264 usCount /= sizeof( portSTACK_TYPE );
\r
2270 /*-----------------------------------------------------------*/
\r
2272 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2274 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2277 unsigned char *pcEndOfStack;
\r
2278 unsigned portBASE_TYPE uxReturn;
\r
2280 pxTCB = prvGetTCBFromHandle( xTask );
\r
2282 #if portSTACK_GROWTH < 0
\r
2284 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2288 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2292 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2298 /*-----------------------------------------------------------*/
\r
2300 #if ( INCLUDE_vTaskDelete == 1 )
\r
2302 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2304 /* This call is required specifically for the TriCore port. It must be
\r
2305 above the vPortFree() calls. The call is also used by ports/demos that
\r
2306 want to allocate and clean RAM statically. */
\r
2307 portCLEAN_UP_TCB( pxTCB );
\r
2309 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2310 the task to free any memory allocated at the application level. */
\r
2311 vPortFreeAligned( pxTCB->pxStack );
\r
2312 vPortFree( pxTCB );
\r
2318 /*-----------------------------------------------------------*/
\r
2320 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2322 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2324 xTaskHandle xReturn;
\r
2326 /* A critical section is not required as this is not called from
\r
2327 an interrupt and the current TCB will always be the same for any
\r
2328 individual execution thread. */
\r
2329 xReturn = pxCurrentTCB;
\r
2336 /*-----------------------------------------------------------*/
\r
2338 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2340 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2342 portBASE_TYPE xReturn;
\r
2344 if( xSchedulerRunning == pdFALSE )
\r
2346 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2350 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2352 xReturn = taskSCHEDULER_RUNNING;
\r
2356 xReturn = taskSCHEDULER_SUSPENDED;
\r
2364 /*-----------------------------------------------------------*/
\r
2366 #if ( configUSE_MUTEXES == 1 )
\r
2368 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2370 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2372 configASSERT( pxMutexHolder );
\r
2374 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2376 /* Adjust the mutex holder state to account for its new priority. */
\r
2377 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2379 /* If the task being modified is in the ready state it will need to
\r
2380 be moved in to a new list. */
\r
2381 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2383 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2385 /* Inherit the priority before being moved into the new list. */
\r
2386 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2387 prvAddTaskToReadyQueue( pxTCB );
\r
2391 /* Just inherit the priority. */
\r
2392 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2395 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2400 /*-----------------------------------------------------------*/
\r
2402 #if ( configUSE_MUTEXES == 1 )
\r
2404 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2406 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2408 if( pxMutexHolder != NULL )
\r
2410 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2412 /* We must be the running task to be able to give the mutex back.
\r
2413 Remove ourselves from the ready list we currently appear in. */
\r
2414 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2416 /* Disinherit the priority before adding the task into the new
\r
2418 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2419 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2420 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2421 prvAddTaskToReadyQueue( pxTCB );
\r
2427 /*-----------------------------------------------------------*/
\r
2429 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2431 void vTaskEnterCritical( void )
\r
2433 portDISABLE_INTERRUPTS();
\r
2435 if( xSchedulerRunning != pdFALSE )
\r
2437 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2442 /*-----------------------------------------------------------*/
\r
2444 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2446 void vTaskExitCritical( void )
\r
2448 if( xSchedulerRunning != pdFALSE )
\r
2450 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2452 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2454 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2456 portENABLE_INTERRUPTS();
\r
2463 /*-----------------------------------------------------------*/
\r
projects / freertos / blob