2 FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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4 ***************************************************************************
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8 * + New to FreeRTOS, *
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9 * + Wanting to learn FreeRTOS or multitasking in general quickly *
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10 * + Looking for basic training, *
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11 * + Wanting to improve your FreeRTOS skills and productivity *
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13 * then take a look at the FreeRTOS books - available as PDF or paperback *
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15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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16 * http://www.FreeRTOS.org/Documentation *
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18 * A pdf reference manual is also available. Both are usually delivered *
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19 * to your inbox within 20 minutes to two hours when purchased between 8am *
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20 * and 8pm GMT (although please allow up to 24 hours in case of *
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21 * exceptional circumstances). Thank you for your support! *
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23 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 ***NOTE*** The exception to the GPL is included to allow you to distribute
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31 a combined work that includes FreeRTOS without being obliged to provide the
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32 source code for proprietary components outside of the FreeRTOS kernel.
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33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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35 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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59 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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60 all the API functions to use the MPU wrappers. That should only be done when
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61 task.h is included from an application file. */
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62 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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64 #include "FreeRTOS.h"
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67 #include "StackMacros.h"
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69 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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72 * Macro to define the amount of stack available to the idle task.
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74 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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77 * Task control block. A task control block (TCB) is allocated to each task,
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78 * and stores the context of the task.
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80 typedef struct tskTaskControlBlock
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82 volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE STRUCT. */
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84 #if ( portUSING_MPU_WRAPPERS == 1 )
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85 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE STRUCT. */
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88 xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
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89 xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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90 unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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91 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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92 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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94 #if ( portSTACK_GROWTH > 0 )
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95 portSTACK_TYPE *pxEndOfStack; /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
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98 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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99 unsigned portBASE_TYPE uxCriticalNesting;
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102 #if ( configUSE_TRACE_FACILITY == 1 )
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103 unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
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106 #if ( configUSE_MUTEXES == 1 )
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107 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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110 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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111 pdTASK_HOOK_CODE pxTaskTag;
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114 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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115 unsigned long ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
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122 * Some kernel aware debuggers require data to be viewed to be global, rather
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125 #ifdef portREMOVE_STATIC_QUALIFIER
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130 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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132 /* Lists for ready and blocked tasks. --------------------*/
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134 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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135 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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136 PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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137 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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138 PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
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139 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */
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141 #if ( INCLUDE_vTaskDelete == 1 )
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143 PRIVILEGED_DATA static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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144 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
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148 #if ( INCLUDE_vTaskSuspend == 1 )
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150 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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154 /* File private variables. --------------------------------*/
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155 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
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156 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0;
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157 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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158 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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159 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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160 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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161 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
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162 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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163 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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164 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0;
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165 PRIVILEGED_DATA static portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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167 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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169 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
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170 PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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171 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
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175 /* Debugging and trace facilities private variables and macros. ------------*/
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178 * The value used to fill the stack of a task when the task is created. This
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179 * is used purely for checking the high water mark for tasks.
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181 #define tskSTACK_FILL_BYTE ( 0xa5U )
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184 * Macros used by vListTask to indicate which state a task is in.
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186 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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187 #define tskREADY_CHAR ( ( signed char ) 'R' )
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188 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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189 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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192 * Macros and private variables used by the trace facility.
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194 #if ( configUSE_TRACE_FACILITY == 1 )
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196 #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned long ) ( sizeof( unsigned long ) + sizeof( unsigned long ) ) )
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197 PRIVILEGED_DATA static volatile signed char * volatile pcTraceBuffer;
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198 PRIVILEGED_DATA static signed char *pcTraceBufferStart;
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199 PRIVILEGED_DATA static signed char *pcTraceBufferEnd;
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200 PRIVILEGED_DATA static signed portBASE_TYPE xTracing = pdFALSE;
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201 static unsigned portBASE_TYPE uxPreviousTask = 255U;
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202 PRIVILEGED_DATA static char pcStatusString[ 50 ];
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206 /*-----------------------------------------------------------*/
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209 * Macro that writes a trace of scheduler activity to a buffer. This trace
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210 * shows which task is running when and is very useful as a debugging tool.
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211 * As this macro is called each context switch it is a good idea to undefine
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212 * it if not using the facility.
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214 #if ( configUSE_TRACE_FACILITY == 1 )
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216 #define vWriteTraceToBuffer() \
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220 if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
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222 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
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224 uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
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225 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) xTickCount; \
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226 pcTraceBuffer += sizeof( unsigned long ); \
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227 *( unsigned long * ) pcTraceBuffer = ( unsigned long ) uxPreviousTask; \
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228 pcTraceBuffer += sizeof( unsigned long ); \
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232 xTracing = pdFALSE; \
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240 #define vWriteTraceToBuffer()
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243 /*-----------------------------------------------------------*/
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246 * Place the task represented by pxTCB into the appropriate ready queue for
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247 * the task. It is inserted at the end of the list. One quirk of this is
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248 * that if the task being inserted is at the same priority as the currently
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249 * executing task, then it will only be rescheduled after the currently
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250 * executing task has been rescheduled.
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252 #define prvAddTaskToReadyQueue( pxTCB ) \
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253 if( ( pxTCB )->uxPriority > uxTopReadyPriority ) \
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255 uxTopReadyPriority = ( pxTCB )->uxPriority; \
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257 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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258 /*-----------------------------------------------------------*/
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261 * Macro that looks at the list of tasks that are currently delayed to see if
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262 * any require waking.
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264 * Tasks are stored in the queue in the order of their wake time - meaning
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265 * once one tasks has been found whose timer has not expired we need not look
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266 * any further down the list.
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268 #define prvCheckDelayedTasks() \
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270 register tskTCB *pxTCB; \
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271 portTickType xItemValue; \
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273 /* Is the tick count greater than or equal to the wake time of the first \
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274 task referenced from the delayed tasks list? */ \
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275 if( xTickCount >= xNextTaskUnblockTime ) \
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279 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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281 /* The delayed list is empty. Set xNextTaskUnblockTime to the \
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282 maximum possible value so it is extremely unlikely that the \
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283 if( xTickCount >= xNextTaskUnblockTime ) test will pass next \
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285 xNextTaskUnblockTime = portMAX_DELAY; \
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290 /* The delayed list is not empty, get the value of the item at \
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291 the head of the delayed list. This is the time at which the \
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292 task at the head of the delayed list should be removed from \
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293 the Blocked state. */ \
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294 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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295 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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297 if( xTickCount < xItemValue ) \
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299 /* It is not time to unblock this item yet, but the item \
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300 value is the time at which the task at the head of the \
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301 blocked list should be removed from the Blocked state - \
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302 so record the item value in xNextTaskUnblockTime. */ \
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303 xNextTaskUnblockTime = xItemValue; \
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307 /* It is time to remove the item from the Blocked state. */ \
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308 vListRemove( &( pxTCB->xGenericListItem ) ); \
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310 /* Is the task waiting on an event also? */ \
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311 if( pxTCB->xEventListItem.pvContainer ) \
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313 vListRemove( &( pxTCB->xEventListItem ) ); \
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315 prvAddTaskToReadyQueue( pxTCB ); \
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320 /*-----------------------------------------------------------*/
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323 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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324 * where NULL is used to indicate that the handle of the currently executing
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325 * task should be used in place of the parameter. This macro simply checks to
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326 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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328 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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330 /* Callback function prototypes. --------------------------*/
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331 extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );
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332 extern void vApplicationTickHook( void );
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334 /* File private functions. --------------------------------*/
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337 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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338 * into the TCB structure.
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340 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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343 * Utility to ready all the lists used by the scheduler. This is called
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344 * automatically upon the creation of the first task.
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346 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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349 * The idle task, which as all tasks is implemented as a never ending loop.
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350 * The idle task is automatically created and added to the ready lists upon
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351 * creation of the first user task.
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353 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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354 * language extensions. The equivalent prototype for this function is:
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356 * void prvIdleTask( void *pvParameters );
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359 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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362 * Utility to free all memory allocated by the scheduler to hold a TCB,
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363 * including the stack pointed to by the TCB.
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365 * This does not free memory allocated by the task itself (i.e. memory
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366 * allocated by calls to pvPortMalloc from within the tasks application code).
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368 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
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370 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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375 * Used only by the idle task. This checks to see if anything has been placed
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376 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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377 * and its TCB deleted.
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379 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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382 * The currently executing task is entering the Blocked state. Add the task to
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383 * either the current or the overflow delayed task list.
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385 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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388 * Allocates memory from the heap for a TCB and associated stack. Checks the
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389 * allocation was successful.
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391 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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394 * Called from vTaskList. vListTasks details all the tasks currently under
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395 * control of the scheduler. The tasks may be in one of a number of lists.
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396 * prvListTaskWithinSingleList accepts a list and details the tasks from
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397 * within just that list.
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399 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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400 * NORMAL APPLICATION CODE.
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402 #if ( configUSE_TRACE_FACILITY == 1 )
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404 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
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409 * When a task is created, the stack of the task is filled with a known value.
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410 * This function determines the 'high water mark' of the task stack by
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411 * determining how much of the stack remains at the original preset value.
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413 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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415 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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424 /*-----------------------------------------------------------
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425 * TASK CREATION API documented in task.h
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426 *----------------------------------------------------------*/
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428 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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430 signed portBASE_TYPE xReturn;
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433 configASSERT( pxTaskCode );
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434 configASSERT( ( uxPriority < configMAX_PRIORITIES ) );
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436 /* Allocate the memory required by the TCB and stack for the new task,
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437 checking that the allocation was successful. */
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438 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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440 if( pxNewTCB != NULL )
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442 portSTACK_TYPE *pxTopOfStack;
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444 #if( portUSING_MPU_WRAPPERS == 1 )
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445 /* Should the task be created in privileged mode? */
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446 portBASE_TYPE xRunPrivileged;
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447 if( ( uxPriority & portPRIVILEGE_BIT ) != 0x00 )
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449 xRunPrivileged = pdTRUE;
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453 xRunPrivileged = pdFALSE;
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455 uxPriority &= ~portPRIVILEGE_BIT;
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456 #endif /* portUSING_MPU_WRAPPERS == 1 */
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458 /* Calculate the top of stack address. This depends on whether the
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459 stack grows from high memory to low (as per the 80x86) or visa versa.
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460 portSTACK_GROWTH is used to make the result positive or negative as
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461 required by the port. */
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462 #if( portSTACK_GROWTH < 0 )
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464 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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465 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( unsigned long ) pxTopOfStack ) & ( ( unsigned long ) ~portBYTE_ALIGNMENT_MASK ) );
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467 /* Check the alignment of the calculated top of stack is correct. */
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468 configASSERT( !( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) );
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472 pxTopOfStack = pxNewTCB->pxStack;
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474 /* Check the alignment of the stack buffer is correct. */
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475 configASSERT( !( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) );
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477 /* If we want to use stack checking on architectures that use
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478 a positive stack growth direction then we also need to store the
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479 other extreme of the stack space. */
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480 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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484 /* Setup the newly allocated TCB with the initial state of the task. */
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485 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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487 /* Initialize the TCB stack to look as if the task was already running,
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488 but had been interrupted by the scheduler. The return address is set
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489 to the start of the task function. Once the stack has been initialised
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490 the top of stack variable is updated. */
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491 #if( portUSING_MPU_WRAPPERS == 1 )
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493 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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497 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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501 /* Check the alignment of the initialised stack. */
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502 configASSERT( !( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) );
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504 if( ( void * ) pxCreatedTask != NULL )
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506 /* Pass the TCB out - in an anonymous way. The calling function/
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507 task can use this as a handle to delete the task later if
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509 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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512 /* We are going to manipulate the task queues to add this task to a
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513 ready list, so must make sure no interrupts occur. */
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514 taskENTER_CRITICAL();
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516 uxCurrentNumberOfTasks++;
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517 if( pxCurrentTCB == NULL )
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519 /* There are no other tasks, or all the other tasks are in
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520 the suspended state - make this the current task. */
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521 pxCurrentTCB = pxNewTCB;
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523 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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525 /* This is the first task to be created so do the preliminary
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526 initialisation required. We will not recover if this call
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527 fails, but we will report the failure. */
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528 prvInitialiseTaskLists();
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533 /* If the scheduler is not already running, make this task the
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534 current task if it is the highest priority task to be created
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536 if( xSchedulerRunning == pdFALSE )
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538 if( pxCurrentTCB->uxPriority <= uxPriority )
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540 pxCurrentTCB = pxNewTCB;
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545 /* Remember the top priority to make context switching faster. Use
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546 the priority in pxNewTCB as this has been capped to a valid value. */
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547 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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549 uxTopUsedPriority = pxNewTCB->uxPriority;
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552 #if ( configUSE_TRACE_FACILITY == 1 )
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554 /* Add a counter into the TCB for tracing only. */
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555 pxNewTCB->uxTCBNumber = uxTaskNumber;
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560 prvAddTaskToReadyQueue( pxNewTCB );
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563 traceTASK_CREATE( pxNewTCB );
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565 taskEXIT_CRITICAL();
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569 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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570 traceTASK_CREATE_FAILED();
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573 if( xReturn == pdPASS )
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575 if( xSchedulerRunning != pdFALSE )
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577 /* If the created task is of a higher priority than the current task
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578 then it should run now. */
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579 if( pxCurrentTCB->uxPriority < uxPriority )
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581 portYIELD_WITHIN_API();
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588 /*-----------------------------------------------------------*/
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590 #if ( INCLUDE_vTaskDelete == 1 )
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592 void vTaskDelete( xTaskHandle pxTaskToDelete )
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596 taskENTER_CRITICAL();
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598 /* Ensure a yield is performed if the current task is being
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600 if( pxTaskToDelete == pxCurrentTCB )
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602 pxTaskToDelete = NULL;
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605 /* If null is passed in here then we are deleting ourselves. */
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606 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
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608 /* Remove task from the ready list and place in the termination list.
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609 This will stop the task from be scheduled. The idle task will check
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610 the termination list and free up any memory allocated by the
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611 scheduler for the TCB and stack. */
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612 vListRemove( &( pxTCB->xGenericListItem ) );
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614 /* Is the task waiting on an event also? */
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615 if( pxTCB->xEventListItem.pvContainer )
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617 vListRemove( &( pxTCB->xEventListItem ) );
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620 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
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622 /* Increment the ucTasksDeleted variable so the idle task knows
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623 there is a task that has been deleted and that it should therefore
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624 check the xTasksWaitingTermination list. */
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627 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
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628 can detect that the task lists need re-generating. */
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631 traceTASK_DELETE( pxTCB );
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633 taskEXIT_CRITICAL();
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635 /* Force a reschedule if we have just deleted the current task. */
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636 if( xSchedulerRunning != pdFALSE )
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638 if( ( void * ) pxTaskToDelete == NULL )
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640 portYIELD_WITHIN_API();
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652 /*-----------------------------------------------------------
\r
653 * TASK CONTROL API documented in task.h
\r
654 *----------------------------------------------------------*/
\r
656 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
658 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
660 portTickType xTimeToWake;
\r
661 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
663 configASSERT( pxPreviousWakeTime );
\r
664 configASSERT( ( xTimeIncrement > 0 ) );
\r
668 /* Generate the tick time at which the task wants to wake. */
\r
669 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
671 if( xTickCount < *pxPreviousWakeTime )
\r
673 /* The tick count has overflowed since this function was
\r
674 lasted called. In this case the only time we should ever
\r
675 actually delay is if the wake time has also overflowed,
\r
676 and the wake time is greater than the tick time. When this
\r
677 is the case it is as if neither time had overflowed. */
\r
678 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
680 xShouldDelay = pdTRUE;
\r
685 /* The tick time has not overflowed. In this case we will
\r
686 delay if either the wake time has overflowed, and/or the
\r
687 tick time is less than the wake time. */
\r
688 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
690 xShouldDelay = pdTRUE;
\r
694 /* Update the wake time ready for the next call. */
\r
695 *pxPreviousWakeTime = xTimeToWake;
\r
697 if( xShouldDelay != pdFALSE )
\r
699 traceTASK_DELAY_UNTIL();
\r
701 /* We must remove ourselves from the ready list before adding
\r
702 ourselves to the blocked list as the same list item is used for
\r
704 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
705 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
708 xAlreadyYielded = xTaskResumeAll();
\r
710 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
711 have put ourselves to sleep. */
\r
712 if( !xAlreadyYielded )
\r
714 portYIELD_WITHIN_API();
\r
719 /*-----------------------------------------------------------*/
\r
721 #if ( INCLUDE_vTaskDelay == 1 )
\r
723 void vTaskDelay( portTickType xTicksToDelay )
\r
725 portTickType xTimeToWake;
\r
726 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
728 /* A delay time of zero just forces a reschedule. */
\r
729 if( xTicksToDelay > ( portTickType ) 0 )
\r
735 /* A task that is removed from the event list while the
\r
736 scheduler is suspended will not get placed in the ready
\r
737 list or removed from the blocked list until the scheduler
\r
740 This task cannot be in an event list as it is the currently
\r
743 /* Calculate the time to wake - this may overflow but this is
\r
745 xTimeToWake = xTickCount + xTicksToDelay;
\r
747 /* We must remove ourselves from the ready list before adding
\r
748 ourselves to the blocked list as the same list item is used for
\r
750 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
751 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
753 xAlreadyYielded = xTaskResumeAll();
\r
756 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
757 have put ourselves to sleep. */
\r
758 if( !xAlreadyYielded )
\r
760 portYIELD_WITHIN_API();
\r
765 /*-----------------------------------------------------------*/
\r
767 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
769 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
772 unsigned portBASE_TYPE uxReturn;
\r
774 taskENTER_CRITICAL();
\r
776 /* If null is passed in here then we are changing the
\r
777 priority of the calling function. */
\r
778 pxTCB = prvGetTCBFromHandle( pxTask );
\r
779 uxReturn = pxTCB->uxPriority;
\r
781 taskEXIT_CRITICAL();
\r
787 /*-----------------------------------------------------------*/
\r
789 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
791 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
794 unsigned portBASE_TYPE uxCurrentPriority;
\r
795 portBASE_TYPE xYieldRequired = pdFALSE;
\r
797 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
799 /* Ensure the new priority is valid. */
\r
800 if( uxNewPriority >= configMAX_PRIORITIES )
\r
802 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
805 taskENTER_CRITICAL();
\r
807 if( pxTask == pxCurrentTCB )
\r
812 /* If null is passed in here then we are changing the
\r
813 priority of the calling function. */
\r
814 pxTCB = prvGetTCBFromHandle( pxTask );
\r
816 traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
\r
818 #if ( configUSE_MUTEXES == 1 )
\r
820 uxCurrentPriority = pxTCB->uxBasePriority;
\r
824 uxCurrentPriority = pxTCB->uxPriority;
\r
828 if( uxCurrentPriority != uxNewPriority )
\r
830 /* The priority change may have readied a task of higher
\r
831 priority than the calling task. */
\r
832 if( uxNewPriority > uxCurrentPriority )
\r
834 if( pxTask != NULL )
\r
836 /* The priority of another task is being raised. If we
\r
837 were raising the priority of the currently running task
\r
838 there would be no need to switch as it must have already
\r
839 been the highest priority task. */
\r
840 xYieldRequired = pdTRUE;
\r
843 else if( pxTask == NULL )
\r
845 /* Setting our own priority down means there may now be another
\r
846 task of higher priority that is ready to execute. */
\r
847 xYieldRequired = pdTRUE;
\r
852 #if ( configUSE_MUTEXES == 1 )
\r
854 /* Only change the priority being used if the task is not
\r
855 currently using an inherited priority. */
\r
856 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
858 pxTCB->uxPriority = uxNewPriority;
\r
861 /* The base priority gets set whatever. */
\r
862 pxTCB->uxBasePriority = uxNewPriority;
\r
866 pxTCB->uxPriority = uxNewPriority;
\r
870 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
872 /* If the task is in the blocked or suspended list we need do
\r
873 nothing more than change it's priority variable. However, if
\r
874 the task is in a ready list it needs to be removed and placed
\r
875 in the queue appropriate to its new priority. */
\r
876 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
878 /* The task is currently in its ready list - remove before adding
\r
879 it to it's new ready list. As we are in a critical section we
\r
880 can do this even if the scheduler is suspended. */
\r
881 vListRemove( &( pxTCB->xGenericListItem ) );
\r
882 prvAddTaskToReadyQueue( pxTCB );
\r
885 if( xYieldRequired == pdTRUE )
\r
887 portYIELD_WITHIN_API();
\r
891 taskEXIT_CRITICAL();
\r
895 /*-----------------------------------------------------------*/
\r
897 #if ( INCLUDE_vTaskSuspend == 1 )
\r
899 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
903 taskENTER_CRITICAL();
\r
905 /* Ensure a yield is performed if the current task is being
\r
907 if( pxTaskToSuspend == pxCurrentTCB )
\r
909 pxTaskToSuspend = NULL;
\r
912 /* If null is passed in here then we are suspending ourselves. */
\r
913 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
915 traceTASK_SUSPEND( pxTCB );
\r
917 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
918 vListRemove( &( pxTCB->xGenericListItem ) );
\r
920 /* Is the task waiting on an event also? */
\r
921 if( pxTCB->xEventListItem.pvContainer )
\r
923 vListRemove( &( pxTCB->xEventListItem ) );
\r
926 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
928 taskEXIT_CRITICAL();
\r
930 if( ( void * ) pxTaskToSuspend == NULL )
\r
932 if( xSchedulerRunning != pdFALSE )
\r
934 /* We have just suspended the current task. */
\r
935 portYIELD_WITHIN_API();
\r
939 /* The scheduler is not running, but the task that was pointed
\r
940 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
941 must be adjusted to point to a different task. */
\r
942 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1U )
\r
944 /* No other tasks are defined, so set pxCurrentTCB back to
\r
945 NULL so when the next task is created pxCurrentTCB will
\r
946 be set to point to it no matter what its relative priority
\r
948 pxCurrentTCB = NULL;
\r
952 vTaskSwitchContext();
\r
959 /*-----------------------------------------------------------*/
\r
961 #if ( INCLUDE_vTaskSuspend == 1 )
\r
963 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
965 portBASE_TYPE xReturn = pdFALSE;
\r
966 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
968 /* It does not make sense to check if the calling task is suspended. */
\r
969 configASSERT( xTask );
\r
971 /* Is the task we are attempting to resume actually in the
\r
973 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
975 /* Has the task already been resumed from within an ISR? */
\r
976 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
978 /* Is it in the suspended list because it is in the
\r
979 Suspended state? It is possible to be in the suspended
\r
980 list because it is blocked on a task with no timeout
\r
982 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
993 /*-----------------------------------------------------------*/
\r
995 #if ( INCLUDE_vTaskSuspend == 1 )
\r
997 void vTaskResume( xTaskHandle pxTaskToResume )
\r
1001 /* It does not make sense to resume the calling task. */
\r
1002 configASSERT( pxTaskToResume );
\r
1004 /* Remove the task from whichever list it is currently in, and place
\r
1005 it in the ready list. */
\r
1006 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1008 /* The parameter cannot be NULL as it is impossible to resume the
\r
1009 currently executing task. */
\r
1010 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1012 taskENTER_CRITICAL();
\r
1014 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1016 traceTASK_RESUME( pxTCB );
\r
1018 /* As we are in a critical section we can access the ready
\r
1019 lists even if the scheduler is suspended. */
\r
1020 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1021 prvAddTaskToReadyQueue( pxTCB );
\r
1023 /* We may have just resumed a higher priority task. */
\r
1024 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1026 /* This yield may not cause the task just resumed to run, but
\r
1027 will leave the lists in the correct state for the next yield. */
\r
1028 portYIELD_WITHIN_API();
\r
1032 taskEXIT_CRITICAL();
\r
1038 /*-----------------------------------------------------------*/
\r
1040 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1042 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
1044 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1047 configASSERT( pxTaskToResume );
\r
1049 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1051 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1053 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1055 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1057 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1058 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1059 prvAddTaskToReadyQueue( pxTCB );
\r
1063 /* We cannot access the delayed or ready lists, so will hold this
\r
1064 task pending until the scheduler is resumed, at which point a
\r
1065 yield will be performed if necessary. */
\r
1066 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1070 return xYieldRequired;
\r
1078 /*-----------------------------------------------------------
\r
1079 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1080 *----------------------------------------------------------*/
\r
1083 void vTaskStartScheduler( void )
\r
1085 portBASE_TYPE xReturn;
\r
1087 /* Add the idle task at the lowest priority. */
\r
1088 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), ( xTaskHandle * ) NULL );
\r
1090 #if ( configUSE_TIMERS == 1 )
\r
1092 if( xReturn == pdPASS )
\r
1094 xReturn = xTimerCreateTimerTask();
\r
1099 if( xReturn == pdPASS )
\r
1101 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1102 before or during the call to xPortStartScheduler(). The stacks of
\r
1103 the created tasks contain a status word with interrupts switched on
\r
1104 so interrupts will automatically get re-enabled when the first task
\r
1107 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1108 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1109 portDISABLE_INTERRUPTS();
\r
1111 xSchedulerRunning = pdTRUE;
\r
1112 xTickCount = ( portTickType ) 0;
\r
1114 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1115 macro must be defined to configure the timer/counter used to generate
\r
1116 the run time counter time base. */
\r
1117 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1119 /* Setting up the timer tick is hardware specific and thus in the
\r
1120 portable interface. */
\r
1121 if( xPortStartScheduler() )
\r
1123 /* Should not reach here as if the scheduler is running the
\r
1124 function will not return. */
\r
1128 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1132 /* This line will only be reached if the kernel could not be started. */
\r
1133 configASSERT( xReturn );
\r
1135 /*-----------------------------------------------------------*/
\r
1137 void vTaskEndScheduler( void )
\r
1139 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1140 routine so the original ISRs can be restored if necessary. The port
\r
1141 layer must ensure interrupts enable bit is left in the correct state. */
\r
1142 portDISABLE_INTERRUPTS();
\r
1143 xSchedulerRunning = pdFALSE;
\r
1144 vPortEndScheduler();
\r
1146 /*----------------------------------------------------------*/
\r
1148 void vTaskSuspendAll( void )
\r
1150 /* A critical section is not required as the variable is of type
\r
1152 ++uxSchedulerSuspended;
\r
1154 /*----------------------------------------------------------*/
\r
1156 signed portBASE_TYPE xTaskResumeAll( void )
\r
1158 register tskTCB *pxTCB;
\r
1159 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1161 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1162 previous call to vTaskSuspendAll(). */
\r
1163 configASSERT( uxSchedulerSuspended );
\r
1165 /* It is possible that an ISR caused a task to be removed from an event
\r
1166 list while the scheduler was suspended. If this was the case then the
\r
1167 removed task will have been added to the xPendingReadyList. Once the
\r
1168 scheduler has been resumed it is safe to move all the pending ready
\r
1169 tasks from this list into their appropriate ready list. */
\r
1170 taskENTER_CRITICAL();
\r
1172 --uxSchedulerSuspended;
\r
1174 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1176 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
\r
1178 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1180 /* Move any readied tasks from the pending list into the
\r
1181 appropriate ready list. */
\r
1182 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1184 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1185 vListRemove( &( pxTCB->xEventListItem ) );
\r
1186 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1187 prvAddTaskToReadyQueue( pxTCB );
\r
1189 /* If we have moved a task that has a priority higher than
\r
1190 the current task then we should yield. */
\r
1191 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1193 xYieldRequired = pdTRUE;
\r
1197 /* If any ticks occurred while the scheduler was suspended then
\r
1198 they should be processed now. This ensures the tick count does not
\r
1199 slip, and that any delayed tasks are resumed at the correct time. */
\r
1200 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1202 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1204 vTaskIncrementTick();
\r
1208 /* As we have processed some ticks it is appropriate to yield
\r
1209 to ensure the highest priority task that is ready to run is
\r
1210 the task actually running. */
\r
1211 #if configUSE_PREEMPTION == 1
\r
1213 xYieldRequired = pdTRUE;
\r
1218 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1220 xAlreadyYielded = pdTRUE;
\r
1221 xMissedYield = pdFALSE;
\r
1222 portYIELD_WITHIN_API();
\r
1227 taskEXIT_CRITICAL();
\r
1229 return xAlreadyYielded;
\r
1237 /*-----------------------------------------------------------
\r
1238 * PUBLIC TASK UTILITIES documented in task.h
\r
1239 *----------------------------------------------------------*/
\r
1243 portTickType xTaskGetTickCount( void )
\r
1245 portTickType xTicks;
\r
1247 /* Critical section required if running on a 16 bit processor. */
\r
1248 taskENTER_CRITICAL();
\r
1250 xTicks = xTickCount;
\r
1252 taskEXIT_CRITICAL();
\r
1256 /*-----------------------------------------------------------*/
\r
1258 portTickType xTaskGetTickCountFromISR( void )
\r
1260 portTickType xReturn;
\r
1261 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1263 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1264 xReturn = xTickCount;
\r
1265 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1269 /*-----------------------------------------------------------*/
\r
1271 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1273 /* A critical section is not required because the variables are of type
\r
1275 return uxCurrentNumberOfTasks;
\r
1277 /*-----------------------------------------------------------*/
\r
1279 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1281 void vTaskList( signed char *pcWriteBuffer )
\r
1283 unsigned portBASE_TYPE uxQueue;
\r
1285 /* This is a VERY costly function that should be used for debug only.
\r
1286 It leaves interrupts disabled for a LONG time. */
\r
1288 vTaskSuspendAll();
\r
1290 /* Run through all the lists that could potentially contain a TCB and
\r
1291 report the task name, state and stack high water mark. */
\r
1293 *pcWriteBuffer = ( signed char ) 0x00;
\r
1294 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1296 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1302 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1304 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1306 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1308 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1310 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1313 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1315 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1318 #if( INCLUDE_vTaskDelete == 1 )
\r
1320 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1322 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1327 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1329 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1331 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1340 /*----------------------------------------------------------*/
\r
1342 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1344 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1346 unsigned portBASE_TYPE uxQueue;
\r
1347 unsigned long ulTotalRunTime;
\r
1349 /* This is a VERY costly function that should be used for debug only.
\r
1350 It leaves interrupts disabled for a LONG time. */
\r
1352 vTaskSuspendAll();
\r
1354 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1355 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1357 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1360 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1361 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1362 ulTotalRunTime /= 100UL;
\r
1364 /* Run through all the lists that could potentially contain a TCB,
\r
1365 generating a table of run timer percentages in the provided
\r
1368 *pcWriteBuffer = ( signed char ) 0x00;
\r
1369 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1371 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1377 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1379 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
\r
1381 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1383 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1385 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
\r
1388 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1390 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
\r
1393 #if ( INCLUDE_vTaskDelete == 1 )
\r
1395 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1397 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, ulTotalRunTime );
\r
1402 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1404 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1406 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, ulTotalRunTime );
\r
1415 /*----------------------------------------------------------*/
\r
1417 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1419 void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize )
\r
1421 configASSERT( pcBuffer );
\r
1422 configASSERT( ulBufferSize );
\r
1424 taskENTER_CRITICAL();
\r
1426 pcTraceBuffer = ( signed char * )pcBuffer;
\r
1427 pcTraceBufferStart = pcBuffer;
\r
1428 pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
\r
1429 xTracing = pdTRUE;
\r
1431 taskEXIT_CRITICAL();
\r
1435 /*----------------------------------------------------------*/
\r
1437 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1439 unsigned long ulTaskEndTrace( void )
\r
1441 unsigned long ulBufferLength;
\r
1443 taskENTER_CRITICAL();
\r
1444 xTracing = pdFALSE;
\r
1445 taskEXIT_CRITICAL();
\r
1447 ulBufferLength = ( unsigned long ) ( pcTraceBuffer - pcTraceBufferStart );
\r
1449 return ulBufferLength;
\r
1456 /*-----------------------------------------------------------
\r
1457 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1458 * documented in task.h
\r
1459 *----------------------------------------------------------*/
\r
1462 void vTaskIncrementTick( void )
\r
1464 /* Called by the portable layer each time a tick interrupt occurs.
\r
1465 Increments the tick then checks to see if the new tick value will cause any
\r
1466 tasks to be unblocked. */
\r
1467 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1470 if( xTickCount == ( portTickType ) 0 )
\r
1474 /* Tick count has overflowed so we need to swap the delay lists.
\r
1475 If there are any items in pxDelayedTaskList here then there is
\r
1477 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );
\r
1479 pxTemp = pxDelayedTaskList;
\r
1480 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1481 pxOverflowDelayedTaskList = pxTemp;
\r
1482 xNumOfOverflows++;
\r
1484 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1486 /* The delayed list is empty. Set xNextTaskUnblockTime to the
\r
1487 maximum possible value so it is extremely unlikely that the
\r
1488 if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1489 until there is an item in the delayed list. */
\r
1490 xNextTaskUnblockTime = portMAX_DELAY;
\r
1496 /* The delayed list is not empty, get the value of the item at
\r
1497 the head of the delayed list. This is the time at which the
\r
1498 task at the head of the delayed list should be removed from
\r
1499 the Blocked state. */
\r
1500 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1501 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1505 /* See if this tick has made a timeout expire. */
\r
1506 prvCheckDelayedTasks();
\r
1512 /* The tick hook gets called at regular intervals, even if the
\r
1513 scheduler is locked. */
\r
1514 #if ( configUSE_TICK_HOOK == 1 )
\r
1516 vApplicationTickHook();
\r
1521 #if ( configUSE_TICK_HOOK == 1 )
\r
1523 /* Guard against the tick hook being called when the missed tick
\r
1524 count is being unwound (when the scheduler is being unlocked. */
\r
1525 if( uxMissedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1527 vApplicationTickHook();
\r
1532 traceTASK_INCREMENT_TICK( xTickCount );
\r
1534 /*-----------------------------------------------------------*/
\r
1536 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1538 void vTaskCleanUpResources( void )
\r
1540 unsigned short usQueue;
\r
1541 volatile tskTCB *pxTCB;
\r
1543 usQueue = ( unsigned short ) uxTopUsedPriority + ( unsigned short ) 1;
\r
1545 /* Remove any TCB's from the ready queues. */
\r
1550 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) == pdFALSE )
\r
1552 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
\r
1553 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1555 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1557 }while( usQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1559 /* Remove any TCB's from the delayed queue. */
\r
1560 while( listLIST_IS_EMPTY( &xDelayedTaskList1 ) == pdFALSE )
\r
1562 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
\r
1563 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1565 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1568 /* Remove any TCB's from the overflow delayed queue. */
\r
1569 while( listLIST_IS_EMPTY( &xDelayedTaskList2 ) == pdFALSE )
\r
1571 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
\r
1572 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1574 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1577 while( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1579 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
\r
1580 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1582 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1587 /*-----------------------------------------------------------*/
\r
1589 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1591 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1595 /* If xTask is NULL then we are setting our own task hook. */
\r
1596 if( xTask == NULL )
\r
1598 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1602 xTCB = ( tskTCB * ) xTask;
\r
1605 /* Save the hook function in the TCB. A critical section is required as
\r
1606 the value can be accessed from an interrupt. */
\r
1607 taskENTER_CRITICAL();
\r
1608 xTCB->pxTaskTag = pxHookFunction;
\r
1609 taskEXIT_CRITICAL();
\r
1613 /*-----------------------------------------------------------*/
\r
1615 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1617 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1620 pdTASK_HOOK_CODE xReturn;
\r
1622 /* If xTask is NULL then we are setting our own task hook. */
\r
1623 if( xTask == NULL )
\r
1625 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1629 xTCB = ( tskTCB * ) xTask;
\r
1632 /* Save the hook function in the TCB. A critical section is required as
\r
1633 the value can be accessed from an interrupt. */
\r
1634 taskENTER_CRITICAL();
\r
1635 xReturn = xTCB->pxTaskTag;
\r
1636 taskEXIT_CRITICAL();
\r
1642 /*-----------------------------------------------------------*/
\r
1644 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1646 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1649 portBASE_TYPE xReturn;
\r
1651 /* If xTask is NULL then we are calling our own task hook. */
\r
1652 if( xTask == NULL )
\r
1654 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1658 xTCB = ( tskTCB * ) xTask;
\r
1661 if( xTCB->pxTaskTag != NULL )
\r
1663 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1674 /*-----------------------------------------------------------*/
\r
1676 void vTaskSwitchContext( void )
\r
1678 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1680 /* The scheduler is currently suspended - do not allow a context
\r
1682 xMissedYield = pdTRUE;
\r
1686 traceTASK_SWITCHED_OUT();
\r
1688 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1690 unsigned long ulTempCounter;
\r
1692 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1693 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter );
\r
1695 ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
\r
1698 /* Add the amount of time the task has been running to the accumulated
\r
1699 time so far. The time the task started running was stored in
\r
1700 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1701 so count values are only valid until the timer overflows. Generally
\r
1702 this will be about 1 hour assuming a 1uS timer increment. */
\r
1703 pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
\r
1704 ulTaskSwitchedInTime = ulTempCounter;
\r
1708 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1709 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1711 /* Find the highest priority queue that contains ready tasks. */
\r
1712 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1714 configASSERT( uxTopReadyPriority );
\r
1715 --uxTopReadyPriority;
\r
1718 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1719 same priority get an equal share of the processor time. */
\r
1720 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1722 traceTASK_SWITCHED_IN();
\r
1723 vWriteTraceToBuffer();
\r
1726 /*-----------------------------------------------------------*/
\r
1728 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1730 portTickType xTimeToWake;
\r
1732 configASSERT( pxEventList );
\r
1734 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1735 SCHEDULER SUSPENDED. */
\r
1737 /* Place the event list item of the TCB in the appropriate event list.
\r
1738 This is placed in the list in priority order so the highest priority task
\r
1739 is the first to be woken by the event. */
\r
1740 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1742 /* We must remove ourselves from the ready list before adding ourselves
\r
1743 to the blocked list as the same list item is used for both lists. We have
\r
1744 exclusive access to the ready lists as the scheduler is locked. */
\r
1745 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1748 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1750 if( xTicksToWait == portMAX_DELAY )
\r
1752 /* Add ourselves to the suspended task list instead of a delayed task
\r
1753 list to ensure we are not woken by a timing event. We will block
\r
1755 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1759 /* Calculate the time at which the task should be woken if the event does
\r
1760 not occur. This may overflow but this doesn't matter. */
\r
1761 xTimeToWake = xTickCount + xTicksToWait;
\r
1762 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1767 /* Calculate the time at which the task should be woken if the event does
\r
1768 not occur. This may overflow but this doesn't matter. */
\r
1769 xTimeToWake = xTickCount + xTicksToWait;
\r
1770 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1774 /*-----------------------------------------------------------*/
\r
1776 #if configUSE_TIMERS == 1
\r
1778 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1780 portTickType xTimeToWake;
\r
1782 configASSERT( pxEventList );
\r
1784 /* This function should not be called by application code hence the
\r
1785 'Restricted' in its name. It is not part of the public API. It is
\r
1786 designed for use by kernel code, and has special calling requirements -
\r
1787 it should be called from a critical section. */
\r
1790 /* Place the event list item of the TCB in the appropriate event list.
\r
1791 In this case it is assume that this is the only task that is going to
\r
1792 be waiting on this event list, so the faster vListInsertEnd() function
\r
1793 can be used in place of vListInsert. */
\r
1794 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1796 /* We must remove this task from the ready list before adding it to the
\r
1797 blocked list as the same list item is used for both lists. This
\r
1798 function is called form a critical section. */
\r
1799 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1801 /* Calculate the time at which the task should be woken if the event does
\r
1802 not occur. This may overflow but this doesn't matter. */
\r
1803 xTimeToWake = xTickCount + xTicksToWait;
\r
1804 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1807 #endif /* configUSE_TIMERS */
\r
1808 /*-----------------------------------------------------------*/
\r
1810 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1812 tskTCB *pxUnblockedTCB;
\r
1813 portBASE_TYPE xReturn;
\r
1815 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1816 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1818 /* The event list is sorted in priority order, so we can remove the
\r
1819 first in the list, remove the TCB from the delayed list, and add
\r
1820 it to the ready list.
\r
1822 If an event is for a queue that is locked then this function will never
\r
1823 get called - the lock count on the queue will get modified instead. This
\r
1824 means we can always expect exclusive access to the event list here.
\r
1826 This function assumes that a check has already been made to ensure that
\r
1827 pxEventList is not empty. */
\r
1828 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1829 configASSERT( pxUnblockedTCB );
\r
1830 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1832 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1834 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1835 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1839 /* We cannot access the delayed or ready lists, so will hold this
\r
1840 task pending until the scheduler is resumed. */
\r
1841 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1844 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1846 /* Return true if the task removed from the event list has
\r
1847 a higher priority than the calling task. This allows
\r
1848 the calling task to know if it should force a context
\r
1854 xReturn = pdFALSE;
\r
1859 /*-----------------------------------------------------------*/
\r
1861 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1863 configASSERT( pxTimeOut );
\r
1864 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1865 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1867 /*-----------------------------------------------------------*/
\r
1869 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1871 portBASE_TYPE xReturn;
\r
1873 configASSERT( pxTimeOut );
\r
1874 configASSERT( pxTicksToWait );
\r
1876 taskENTER_CRITICAL();
\r
1878 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1879 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1880 the maximum block time then the task should block indefinitely, and
\r
1881 therefore never time out. */
\r
1882 if( *pxTicksToWait == portMAX_DELAY )
\r
1884 xReturn = pdFALSE;
\r
1886 else /* We are not blocking indefinitely, perform the checks below. */
\r
1889 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
1891 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1892 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1893 It must have wrapped all the way around and gone past us again. This
\r
1894 passed since vTaskSetTimeout() was called. */
\r
1897 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
1899 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1900 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
1901 vTaskSetTimeOutState( pxTimeOut );
\r
1902 xReturn = pdFALSE;
\r
1909 taskEXIT_CRITICAL();
\r
1913 /*-----------------------------------------------------------*/
\r
1915 void vTaskMissedYield( void )
\r
1917 xMissedYield = pdTRUE;
\r
1921 * -----------------------------------------------------------
\r
1923 * ----------------------------------------------------------
\r
1925 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1926 * language extensions. The equivalent prototype for this function is:
\r
1928 * void prvIdleTask( void *pvParameters );
\r
1931 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1933 /* Stop warnings. */
\r
1934 ( void ) pvParameters;
\r
1938 /* See if any tasks have been deleted. */
\r
1939 prvCheckTasksWaitingTermination();
\r
1941 #if ( configUSE_PREEMPTION == 0 )
\r
1943 /* If we are not using preemption we keep forcing a task switch to
\r
1944 see if any other task has become available. If we are using
\r
1945 preemption we don't need to do this as any task becoming available
\r
1946 will automatically get the processor anyway. */
\r
1951 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1953 /* When using preemption tasks of equal priority will be
\r
1954 timesliced. If a task that is sharing the idle priority is ready
\r
1955 to run then the idle task should yield before the end of the
\r
1958 A critical region is not required here as we are just reading from
\r
1959 the list, and an occasional incorrect value will not matter. If
\r
1960 the ready list at the idle priority contains more than one task
\r
1961 then a task other than the idle task is ready to execute. */
\r
1962 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1969 #if ( configUSE_IDLE_HOOK == 1 )
\r
1971 extern void vApplicationIdleHook( void );
\r
1973 /* Call the user defined function from within the idle task. This
\r
1974 allows the application designer to add background functionality
\r
1975 without the overhead of a separate task.
\r
1976 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1977 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1978 vApplicationIdleHook();
\r
1982 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1990 /*-----------------------------------------------------------
\r
1991 * File private functions documented at the top of the file.
\r
1992 *----------------------------------------------------------*/
\r
1996 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
1998 /* Store the function name in the TCB. */
\r
1999 #if configMAX_TASK_NAME_LEN > 1
\r
2001 /* Don't bring strncpy into the build unnecessarily. */
\r
2002 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
2005 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
\r
2007 /* This is used as an array index so must ensure it's not too large. First
\r
2008 remove the privilege bit if one is present. */
\r
2009 if( uxPriority >= configMAX_PRIORITIES )
\r
2011 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2014 pxTCB->uxPriority = uxPriority;
\r
2015 #if ( configUSE_MUTEXES == 1 )
\r
2017 pxTCB->uxBasePriority = uxPriority;
\r
2021 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2022 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2024 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2025 back to the containing TCB from a generic item in a list. */
\r
2026 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2028 /* Event lists are always in priority order. */
\r
2029 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
2030 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2032 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2034 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
\r
2038 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2040 pxTCB->pxTaskTag = NULL;
\r
2044 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2046 pxTCB->ulRunTimeCounter = 0UL;
\r
2050 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2052 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2056 ( void ) xRegions;
\r
2057 ( void ) usStackDepth;
\r
2061 /*-----------------------------------------------------------*/
\r
2063 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2065 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2069 configASSERT( xRegions );
\r
2071 if( xTaskToModify == pxCurrentTCB )
\r
2073 xTaskToModify = NULL;
\r
2076 /* If null is passed in here then we are deleting ourselves. */
\r
2077 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2079 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2081 /*-----------------------------------------------------------*/
\r
2084 static void prvInitialiseTaskLists( void )
\r
2086 unsigned portBASE_TYPE uxPriority;
\r
2088 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2090 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2093 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2094 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2095 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2097 #if ( INCLUDE_vTaskDelete == 1 )
\r
2099 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2103 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2105 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2109 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2111 pxDelayedTaskList = &xDelayedTaskList1;
\r
2112 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2114 /*-----------------------------------------------------------*/
\r
2116 static void prvCheckTasksWaitingTermination( void )
\r
2118 #if ( INCLUDE_vTaskDelete == 1 )
\r
2120 portBASE_TYPE xListIsEmpty;
\r
2122 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2123 too often in the idle task. */
\r
2124 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
\r
2126 vTaskSuspendAll();
\r
2127 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2130 if( xListIsEmpty == pdFALSE )
\r
2134 taskENTER_CRITICAL();
\r
2136 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2137 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2138 --uxCurrentNumberOfTasks;
\r
2141 taskEXIT_CRITICAL();
\r
2143 prvDeleteTCB( pxTCB );
\r
2149 /*-----------------------------------------------------------*/
\r
2151 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2153 /* The list item will be inserted in wake time order. */
\r
2154 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2156 if( xTimeToWake < xTickCount )
\r
2158 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2159 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2163 /* The wake time has not overflowed, so we can use the current block list. */
\r
2164 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2166 /* If the task entering the blocked state was placed at the head of the
\r
2167 list of blocked tasks then xNextTaskUnmblockTime needs to be updated
\r
2169 if( xTimeToWake < xNextTaskUnblockTime )
\r
2171 xNextTaskUnblockTime = xTimeToWake;
\r
2175 /*-----------------------------------------------------------*/
\r
2177 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2181 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2182 the implementation of the port malloc function. */
\r
2183 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2185 if( pxNewTCB != NULL )
\r
2187 /* Allocate space for the stack used by the task being created.
\r
2188 The base of the stack memory stored in the TCB so the task can
\r
2189 be deleted later if required. */
\r
2190 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2192 if( pxNewTCB->pxStack == NULL )
\r
2194 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2195 vPortFree( pxNewTCB );
\r
2200 /* Just to help debugging. */
\r
2201 memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2207 /*-----------------------------------------------------------*/
\r
2209 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2211 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2213 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2214 unsigned short usStackRemaining;
\r
2216 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2217 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2220 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2221 #if ( portSTACK_GROWTH > 0 )
\r
2223 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2227 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2231 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
2232 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2234 } while( pxNextTCB != pxFirstTCB );
\r
2238 /*-----------------------------------------------------------*/
\r
2240 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2242 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
\r
2244 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2245 unsigned long ulStatsAsPercentage;
\r
2247 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2248 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2251 /* Get next TCB in from the list. */
\r
2252 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2254 /* Divide by zero check. */
\r
2255 if( ulTotalRunTime > 0UL )
\r
2257 /* Has the task run at all? */
\r
2258 if( pxNextTCB->ulRunTimeCounter == 0 )
\r
2260 /* The task has used no CPU time at all. */
\r
2261 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2265 /* What percentage of the total run time has the task used?
\r
2266 This will always be rounded down to the nearest integer.
\r
2267 ulTotalRunTime has already been divided by 100. */
\r
2268 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime;
\r
2270 if( ulStatsAsPercentage > 0UL )
\r
2272 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2274 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2278 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2279 printf() library can be used. */
\r
2280 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2286 /* If the percentage is zero here then the task has
\r
2287 consumed less than 1% of the total run time. */
\r
2288 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2290 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2294 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2295 printf() library can be used. */
\r
2296 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2302 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2305 } while( pxNextTCB != pxFirstTCB );
\r
2309 /*-----------------------------------------------------------*/
\r
2311 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2313 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2315 register unsigned short usCount = 0;
\r
2317 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2319 pucStackByte -= portSTACK_GROWTH;
\r
2323 usCount /= sizeof( portSTACK_TYPE );
\r
2329 /*-----------------------------------------------------------*/
\r
2331 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2333 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2336 unsigned char *pcEndOfStack;
\r
2337 unsigned portBASE_TYPE uxReturn;
\r
2339 pxTCB = prvGetTCBFromHandle( xTask );
\r
2341 #if portSTACK_GROWTH < 0
\r
2343 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2347 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2351 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2357 /*-----------------------------------------------------------*/
\r
2359 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
\r
2361 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2363 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2364 the task to free any memory allocated at the application level. */
\r
2365 vPortFreeAligned( pxTCB->pxStack );
\r
2366 vPortFree( pxTCB );
\r
2372 /*-----------------------------------------------------------*/
\r
2374 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2376 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2378 xTaskHandle xReturn;
\r
2380 /* A critical section is not required as this is not called from
\r
2381 an interrupt and the current TCB will always be the same for any
\r
2382 individual execution thread. */
\r
2383 xReturn = pxCurrentTCB;
\r
2390 /*-----------------------------------------------------------*/
\r
2392 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2394 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2396 portBASE_TYPE xReturn;
\r
2398 if( xSchedulerRunning == pdFALSE )
\r
2400 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2404 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2406 xReturn = taskSCHEDULER_RUNNING;
\r
2410 xReturn = taskSCHEDULER_SUSPENDED;
\r
2418 /*-----------------------------------------------------------*/
\r
2420 #if ( configUSE_MUTEXES == 1 )
\r
2422 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2424 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2426 configASSERT( pxMutexHolder );
\r
2428 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2430 /* Adjust the mutex holder state to account for its new priority. */
\r
2431 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2433 /* If the task being modified is in the ready state it will need to
\r
2434 be moved in to a new list. */
\r
2435 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
2437 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2439 /* Inherit the priority before being moved into the new list. */
\r
2440 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2441 prvAddTaskToReadyQueue( pxTCB );
\r
2445 /* Just inherit the priority. */
\r
2446 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2452 /*-----------------------------------------------------------*/
\r
2454 #if ( configUSE_MUTEXES == 1 )
\r
2456 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2458 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2460 if( pxMutexHolder != NULL )
\r
2462 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2464 /* We must be the running task to be able to give the mutex back.
\r
2465 Remove ourselves from the ready list we currently appear in. */
\r
2466 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2468 /* Disinherit the priority before adding ourselves into the new
\r
2470 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2471 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2472 prvAddTaskToReadyQueue( pxTCB );
\r
2478 /*-----------------------------------------------------------*/
\r
2480 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2482 void vTaskEnterCritical( void )
\r
2484 portDISABLE_INTERRUPTS();
\r
2486 if( xSchedulerRunning != pdFALSE )
\r
2488 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2493 /*-----------------------------------------------------------*/
\r
2495 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2497 void vTaskExitCritical( void )
\r
2499 if( xSchedulerRunning != pdFALSE )
\r
2501 if( pxCurrentTCB->uxCriticalNesting > 0 )
\r
2503 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2505 if( pxCurrentTCB->uxCriticalNesting == 0 )
\r
2507 portENABLE_INTERRUPTS();
\r
2514 /*-----------------------------------------------------------*/
\r
projects / freertos / blob