2 FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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4 This file is part of the FreeRTOS distribution.
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6 FreeRTOS is free software; you can redistribute it and/or modify it under
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7 the terms of the GNU General Public License (version 2) as published by the
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8 Free Software Foundation and modified by the FreeRTOS exception.
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9 **NOTE** The exception to the GPL is included to allow you to distribute a
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10 combined work that includes FreeRTOS without being obliged to provide the
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11 source code for proprietary components outside of the FreeRTOS kernel.
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12 Alternative commercial license and support terms are also available upon
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13 request. See the licensing section of http://www.FreeRTOS.org for full
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16 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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17 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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18 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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21 You should have received a copy of the GNU General Public License along
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22 with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
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23 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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26 ***************************************************************************
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28 * Looking for a quick start? Then check out the FreeRTOS eBook! *
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29 * See http://www.FreeRTOS.org/Documentation for details *
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31 ***************************************************************************
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35 Please ensure to read the configuration and relevant port sections of the
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36 online documentation.
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38 http://www.FreeRTOS.org - Documentation, latest information, license and
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41 http://www.SafeRTOS.com - A version that is certified for use in safety
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44 http://www.OpenRTOS.com - Commercial support, development, porting,
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45 licensing and training services.
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53 #include "FreeRTOS.h"
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55 #include "StackMacros.h"
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58 * Macro to define the amount of stack available to the idle task.
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60 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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63 * Task control block. A task control block (TCB) is allocated to each task,
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64 * and stores the context of the task.
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66 typedef struct tskTaskControlBlock
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68 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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69 xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
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70 xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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71 unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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72 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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73 signed portCHAR pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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75 #if ( portSTACK_GROWTH > 0 )
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76 portSTACK_TYPE *pxEndOfStack; /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
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79 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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80 unsigned portBASE_TYPE uxCriticalNesting;
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83 #if ( configUSE_TRACE_FACILITY == 1 )
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84 unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
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87 #if ( configUSE_MUTEXES == 1 )
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88 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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91 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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92 pdTASK_HOOK_CODE pxTaskTag;
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95 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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96 unsigned portLONG ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
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102 * Some kernel aware debuggers require data to be viewed to be global, rather
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105 #ifdef portREMOVE_STATIC_QUALIFIER
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111 tskTCB * volatile pxCurrentTCB = NULL;
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113 /* Lists for ready and blocked tasks. --------------------*/
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115 static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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116 static xList xDelayedTaskList1; /*< Delayed tasks. */
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117 static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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118 static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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119 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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120 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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122 #if ( INCLUDE_vTaskDelete == 1 )
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124 static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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125 static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
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129 #if ( INCLUDE_vTaskSuspend == 1 )
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131 static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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135 /* File private variables. --------------------------------*/
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136 static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
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137 static volatile portTickType xTickCount = ( portTickType ) 0;
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138 static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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139 static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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140 static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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141 static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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142 static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
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143 static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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144 static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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145 static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0;
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147 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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149 static portCHAR pcStatsString[ 50 ];
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150 static unsigned portLONG ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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151 static void prvGenerateRunTimeStatsForTasksInList( const signed portCHAR *pcWriteBuffer, xList *pxList, unsigned portLONG ulTotalRunTime );
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155 /* Debugging and trace facilities private variables and macros. ------------*/
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158 * The value used to fill the stack of a task when the task is created. This
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159 * is used purely for checking the high water mark for tasks.
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161 #define tskSTACK_FILL_BYTE ( 0xa5 )
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164 * Macros used by vListTask to indicate which state a task is in.
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166 #define tskBLOCKED_CHAR ( ( signed portCHAR ) 'B' )
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167 #define tskREADY_CHAR ( ( signed portCHAR ) 'R' )
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168 #define tskDELETED_CHAR ( ( signed portCHAR ) 'D' )
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169 #define tskSUSPENDED_CHAR ( ( signed portCHAR ) 'S' )
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172 * Macros and private variables used by the trace facility.
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174 #if ( configUSE_TRACE_FACILITY == 1 )
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176 #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned portLONG ) ( sizeof( unsigned portLONG ) + sizeof( unsigned portLONG ) ) )
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177 static volatile signed portCHAR * volatile pcTraceBuffer;
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178 static signed portCHAR *pcTraceBufferStart;
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179 static signed portCHAR *pcTraceBufferEnd;
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180 static signed portBASE_TYPE xTracing = pdFALSE;
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181 static unsigned portBASE_TYPE uxPreviousTask = 255;
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182 static portCHAR pcStatusString[ 50 ];
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186 /*-----------------------------------------------------------*/
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189 * Macro that writes a trace of scheduler activity to a buffer. This trace
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190 * shows which task is running when and is very useful as a debugging tool.
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191 * As this macro is called each context switch it is a good idea to undefine
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192 * it if not using the facility.
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194 #if ( configUSE_TRACE_FACILITY == 1 )
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196 #define vWriteTraceToBuffer() \
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200 if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
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202 if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
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204 uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
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205 *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) xTickCount; \
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206 pcTraceBuffer += sizeof( unsigned portLONG ); \
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207 *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) uxPreviousTask; \
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208 pcTraceBuffer += sizeof( unsigned portLONG ); \
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212 xTracing = pdFALSE; \
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220 #define vWriteTraceToBuffer()
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223 /*-----------------------------------------------------------*/
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226 * Place the task represented by pxTCB into the appropriate ready queue for
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227 * the task. It is inserted at the end of the list. One quirk of this is
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228 * that if the task being inserted is at the same priority as the currently
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229 * executing task, then it will only be rescheduled after the currently
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230 * executing task has been rescheduled.
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232 #define prvAddTaskToReadyQueue( pxTCB ) \
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234 if( pxTCB->uxPriority > uxTopReadyPriority ) \
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236 uxTopReadyPriority = pxTCB->uxPriority; \
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238 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \
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240 /*-----------------------------------------------------------*/
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243 * Macro that looks at the list of tasks that are currently delayed to see if
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244 * any require waking.
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246 * Tasks are stored in the queue in the order of their wake time - meaning
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247 * once one tasks has been found whose timer has not expired we need not look
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248 * any further down the list.
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250 #define prvCheckDelayedTasks() \
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252 register tskTCB *pxTCB; \
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254 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \
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256 if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \
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260 vListRemove( &( pxTCB->xGenericListItem ) ); \
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261 /* Is the task waiting on an event also? */ \
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262 if( pxTCB->xEventListItem.pvContainer ) \
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264 vListRemove( &( pxTCB->xEventListItem ) ); \
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266 prvAddTaskToReadyQueue( pxTCB ); \
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269 /*-----------------------------------------------------------*/
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272 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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273 * where NULL is used to indicate that the handle of the currently executing
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274 * task should be used in place of the parameter. This macro simply checks to
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275 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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277 #define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )
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280 /* File private functions. --------------------------------*/
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283 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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284 * into the TCB structure.
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286 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority );
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289 * Utility to ready all the lists used by the scheduler. This is called
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290 * automatically upon the creation of the first task.
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292 static void prvInitialiseTaskLists( void );
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295 * The idle task, which as all tasks is implemented as a never ending loop.
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296 * The idle task is automatically created and added to the ready lists upon
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297 * creation of the first user task.
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299 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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300 * language extensions. The equivalent prototype for this function is:
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302 * void prvIdleTask( void *pvParameters );
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305 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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308 * Utility to free all memory allocated by the scheduler to hold a TCB,
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309 * including the stack pointed to by the TCB.
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311 * This does not free memory allocated by the task itself (i.e. memory
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312 * allocated by calls to pvPortMalloc from within the tasks application code).
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314 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
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316 static void prvDeleteTCB( tskTCB *pxTCB );
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321 * Used only by the idle task. This checks to see if anything has been placed
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322 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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323 * and its TCB deleted.
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325 static void prvCheckTasksWaitingTermination( void );
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328 * Allocates memory from the heap for a TCB and associated stack. Checks the
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329 * allocation was successful.
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331 static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );
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334 * Called from vTaskList. vListTasks details all the tasks currently under
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335 * control of the scheduler. The tasks may be in one of a number of lists.
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336 * prvListTaskWithinSingleList accepts a list and details the tasks from
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337 * within just that list.
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339 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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340 * NORMAL APPLICATION CODE.
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342 #if ( configUSE_TRACE_FACILITY == 1 )
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344 static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus );
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349 * When a task is created, the stack of the task is filled with a known value.
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350 * This function determines the 'high water mark' of the task stack by
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351 * determining how much of the stack remains at the original preset value.
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353 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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355 unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte );
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364 /*-----------------------------------------------------------
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365 * TASK CREATION API documented in task.h
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366 *----------------------------------------------------------*/
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368 signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask )
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370 signed portBASE_TYPE xReturn;
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373 /* Allocate the memory required by the TCB and stack for the new task.
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374 checking that the allocation was successful. */
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375 pxNewTCB = prvAllocateTCBAndStack( usStackDepth );
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377 if( pxNewTCB != NULL )
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379 portSTACK_TYPE *pxTopOfStack;
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381 /* Setup the newly allocated TCB with the initial state of the task. */
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382 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority );
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384 /* Calculate the top of stack address. This depends on whether the
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385 stack grows from high memory to low (as per the 80x86) or visa versa.
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386 portSTACK_GROWTH is used to make the result positive or negative as
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387 required by the port. */
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388 #if portSTACK_GROWTH < 0
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390 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 ) - ( ( usStackDepth - 1 ) % portBYTE_ALIGNMENT );
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394 pxTopOfStack = pxNewTCB->pxStack;
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396 /* If we want to use stack checking on architectures that use
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397 a positive stack growth direction then we also need to store the
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398 other extreme of the stack space. */
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399 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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403 /* Initialize the TCB stack to look as if the task was already running,
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404 but had been interrupted by the scheduler. The return address is set
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405 to the start of the task function. Once the stack has been initialised
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406 the top of stack variable is updated. */
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407 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pvTaskCode, pvParameters );
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409 /* We are going to manipulate the task queues to add this task to a
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410 ready list, so must make sure no interrupts occur. */
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411 portENTER_CRITICAL();
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413 uxCurrentNumberOfTasks++;
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414 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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416 /* As this is the first task it must also be the current task. */
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417 pxCurrentTCB = pxNewTCB;
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419 /* This is the first task to be created so do the preliminary
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420 initialisation required. We will not recover if this call
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421 fails, but we will report the failure. */
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422 prvInitialiseTaskLists();
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426 /* If the scheduler is not already running, make this task the
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427 current task if it is the highest priority task to be created
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429 if( xSchedulerRunning == pdFALSE )
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431 if( pxCurrentTCB->uxPriority <= uxPriority )
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433 pxCurrentTCB = pxNewTCB;
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438 /* Remember the top priority to make context switching faster. Use
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439 the priority in pxNewTCB as this has been capped to a valid value. */
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440 if( pxNewTCB->uxPriority > uxTopUsedPriority )
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442 uxTopUsedPriority = pxNewTCB->uxPriority;
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445 #if ( configUSE_TRACE_FACILITY == 1 )
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447 /* Add a counter into the TCB for tracing only. */
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448 pxNewTCB->uxTCBNumber = uxTaskNumber;
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453 prvAddTaskToReadyQueue( pxNewTCB );
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456 traceTASK_CREATE( pxNewTCB );
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458 portEXIT_CRITICAL();
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462 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
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463 traceTASK_CREATE_FAILED( pxNewTCB );
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466 if( xReturn == pdPASS )
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468 if( ( void * ) pxCreatedTask != NULL )
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470 /* Pass the TCB out - in an anonymous way. The calling function/
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471 task can use this as a handle to delete the task later if
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473 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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476 if( xSchedulerRunning != pdFALSE )
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478 /* If the created task is of a higher priority than the current task
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479 then it should run now. */
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480 if( pxCurrentTCB->uxPriority < uxPriority )
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489 /*-----------------------------------------------------------*/
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491 #if ( INCLUDE_vTaskDelete == 1 )
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493 void vTaskDelete( xTaskHandle pxTaskToDelete )
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497 taskENTER_CRITICAL();
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499 /* Ensure a yield is performed if the current task is being
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501 if( pxTaskToDelete == pxCurrentTCB )
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503 pxTaskToDelete = NULL;
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506 /* If null is passed in here then we are deleting ourselves. */
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507 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
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509 /* Remove task from the ready list and place in the termination list.
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510 This will stop the task from be scheduled. The idle task will check
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511 the termination list and free up any memory allocated by the
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512 scheduler for the TCB and stack. */
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513 vListRemove( &( pxTCB->xGenericListItem ) );
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515 /* Is the task waiting on an event also? */
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516 if( pxTCB->xEventListItem.pvContainer )
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518 vListRemove( &( pxTCB->xEventListItem ) );
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521 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
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523 /* Increment the ucTasksDeleted variable so the idle task knows
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524 there is a task that has been deleted and that it should therefore
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525 check the xTasksWaitingTermination list. */
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528 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
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529 can detect that the task lists need re-generating. */
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532 traceTASK_DELETE( pxTCB );
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534 taskEXIT_CRITICAL();
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536 /* Force a reschedule if we have just deleted the current task. */
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537 if( xSchedulerRunning != pdFALSE )
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539 if( ( void * ) pxTaskToDelete == NULL )
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553 /*-----------------------------------------------------------
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554 * TASK CONTROL API documented in task.h
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555 *----------------------------------------------------------*/
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557 #if ( INCLUDE_vTaskDelayUntil == 1 )
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559 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
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561 portTickType xTimeToWake;
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562 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
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566 /* Generate the tick time at which the task wants to wake. */
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567 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
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569 if( xTickCount < *pxPreviousWakeTime )
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571 /* The tick count has overflowed since this function was
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572 lasted called. In this case the only time we should ever
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573 actually delay is if the wake time has also overflowed,
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574 and the wake time is greater than the tick time. When this
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575 is the case it is as if neither time had overflowed. */
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576 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
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578 xShouldDelay = pdTRUE;
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583 /* The tick time has not overflowed. In this case we will
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584 delay if either the wake time has overflowed, and/or the
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585 tick time is less than the wake time. */
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586 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
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588 xShouldDelay = pdTRUE;
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592 /* Update the wake time ready for the next call. */
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593 *pxPreviousWakeTime = xTimeToWake;
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597 traceTASK_DELAY_UNTIL();
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599 /* We must remove ourselves from the ready list before adding
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600 ourselves to the blocked list as the same list item is used for
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602 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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604 /* The list item will be inserted in wake time order. */
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605 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
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607 if( xTimeToWake < xTickCount )
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609 /* Wake time has overflowed. Place this item in the
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611 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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615 /* The wake time has not overflowed, so we can use the
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616 current block list. */
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617 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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621 xAlreadyYielded = xTaskResumeAll();
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623 /* Force a reschedule if xTaskResumeAll has not already done so, we may
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624 have put ourselves to sleep. */
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625 if( !xAlreadyYielded )
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632 /*-----------------------------------------------------------*/
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634 #if ( INCLUDE_vTaskDelay == 1 )
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636 void vTaskDelay( portTickType xTicksToDelay )
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638 portTickType xTimeToWake;
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639 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
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641 /* A delay time of zero just forces a reschedule. */
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642 if( xTicksToDelay > ( portTickType ) 0 )
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648 /* A task that is removed from the event list while the
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649 scheduler is suspended will not get placed in the ready
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650 list or removed from the blocked list until the scheduler
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653 This task cannot be in an event list as it is the currently
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656 /* Calculate the time to wake - this may overflow but this is
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658 xTimeToWake = xTickCount + xTicksToDelay;
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660 /* We must remove ourselves from the ready list before adding
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661 ourselves to the blocked list as the same list item is used for
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663 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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665 /* The list item will be inserted in wake time order. */
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666 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
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668 if( xTimeToWake < xTickCount )
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670 /* Wake time has overflowed. Place this item in the
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672 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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676 /* The wake time has not overflowed, so we can use the
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677 current block list. */
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678 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
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681 xAlreadyYielded = xTaskResumeAll();
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684 /* Force a reschedule if xTaskResumeAll has not already done so, we may
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685 have put ourselves to sleep. */
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686 if( !xAlreadyYielded )
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693 /*-----------------------------------------------------------*/
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695 #if ( INCLUDE_uxTaskPriorityGet == 1 )
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697 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
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700 unsigned portBASE_TYPE uxReturn;
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702 taskENTER_CRITICAL();
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704 /* If null is passed in here then we are changing the
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705 priority of the calling function. */
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706 pxTCB = prvGetTCBFromHandle( pxTask );
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707 uxReturn = pxTCB->uxPriority;
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709 taskEXIT_CRITICAL();
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715 /*-----------------------------------------------------------*/
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717 #if ( INCLUDE_vTaskPrioritySet == 1 )
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719 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
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722 unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
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724 /* Ensure the new priority is valid. */
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725 if( uxNewPriority >= configMAX_PRIORITIES )
\r
727 uxNewPriority = configMAX_PRIORITIES - 1;
\r
730 taskENTER_CRITICAL();
\r
732 if( pxTask == pxCurrentTCB )
\r
737 /* If null is passed in here then we are changing the
\r
738 priority of the calling function. */
\r
739 pxTCB = prvGetTCBFromHandle( pxTask );
\r
741 traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
\r
743 #if ( configUSE_MUTEXES == 1 )
\r
745 uxCurrentPriority = pxTCB->uxBasePriority;
\r
749 uxCurrentPriority = pxTCB->uxPriority;
\r
753 if( uxCurrentPriority != uxNewPriority )
\r
755 /* The priority change may have readied a task of higher
\r
756 priority than the calling task. */
\r
757 if( uxNewPriority > uxCurrentPriority )
\r
759 if( pxTask != NULL )
\r
761 /* The priority of another task is being raised. If we
\r
762 were raising the priority of the currently running task
\r
763 there would be no need to switch as it must have already
\r
764 been the highest priority task. */
\r
765 xYieldRequired = pdTRUE;
\r
768 else if( pxTask == NULL )
\r
770 /* Setting our own priority down means there may now be another
\r
771 task of higher priority that is ready to execute. */
\r
772 xYieldRequired = pdTRUE;
\r
777 #if ( configUSE_MUTEXES == 1 )
\r
779 /* Only change the priority being used if the task is not
\r
780 currently using an inherited priority. */
\r
781 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
783 pxTCB->uxPriority = uxNewPriority;
\r
786 /* The base priority gets set whatever. */
\r
787 pxTCB->uxBasePriority = uxNewPriority;
\r
791 pxTCB->uxPriority = uxNewPriority;
\r
795 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
797 /* If the task is in the blocked or suspended list we need do
\r
798 nothing more than change it's priority variable. However, if
\r
799 the task is in a ready list it needs to be removed and placed
\r
800 in the queue appropriate to its new priority. */
\r
801 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
803 /* The task is currently in its ready list - remove before adding
\r
804 it to it's new ready list. As we are in a critical section we
\r
805 can do this even if the scheduler is suspended. */
\r
806 vListRemove( &( pxTCB->xGenericListItem ) );
\r
807 prvAddTaskToReadyQueue( pxTCB );
\r
810 if( xYieldRequired == pdTRUE )
\r
816 taskEXIT_CRITICAL();
\r
820 /*-----------------------------------------------------------*/
\r
822 #if ( INCLUDE_vTaskSuspend == 1 )
\r
824 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
828 taskENTER_CRITICAL();
\r
830 /* Ensure a yield is performed if the current task is being
\r
832 if( pxTaskToSuspend == pxCurrentTCB )
\r
834 pxTaskToSuspend = NULL;
\r
837 /* If null is passed in here then we are suspending ourselves. */
\r
838 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
840 traceTASK_SUSPEND( pxTCB );
\r
842 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
843 vListRemove( &( pxTCB->xGenericListItem ) );
\r
845 /* Is the task waiting on an event also? */
\r
846 if( pxTCB->xEventListItem.pvContainer )
\r
848 vListRemove( &( pxTCB->xEventListItem ) );
\r
851 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
853 taskEXIT_CRITICAL();
\r
855 /* We may have just suspended the current task. */
\r
856 if( ( void * ) pxTaskToSuspend == NULL )
\r
863 /*-----------------------------------------------------------*/
\r
865 #if ( INCLUDE_vTaskSuspend == 1 )
\r
867 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
869 portBASE_TYPE xReturn = pdFALSE;
\r
870 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
872 /* Is the task we are attempting to resume actually in the
\r
874 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
876 /* Has the task already been resumed from within an ISR? */
\r
877 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
879 /* Is it in the suspended list because it is in the
\r
880 Suspended state? It is possible to be in the suspended
\r
881 list because it is blocked on a task with no timeout
\r
883 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
894 /*-----------------------------------------------------------*/
\r
896 #if ( INCLUDE_vTaskSuspend == 1 )
\r
898 void vTaskResume( xTaskHandle pxTaskToResume )
\r
902 /* Remove the task from whichever list it is currently in, and place
\r
903 it in the ready list. */
\r
904 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
906 /* The parameter cannot be NULL as it is impossible to resume the
\r
907 currently executing task. */
\r
908 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
910 taskENTER_CRITICAL();
\r
912 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
914 traceTASK_RESUME( pxTCB );
\r
916 /* As we are in a critical section we can access the ready
\r
917 lists even if the scheduler is suspended. */
\r
918 vListRemove( &( pxTCB->xGenericListItem ) );
\r
919 prvAddTaskToReadyQueue( pxTCB );
\r
921 /* We may have just resumed a higher priority task. */
\r
922 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
924 /* This yield may not cause the task just resumed to run, but
\r
925 will leave the lists in the correct state for the next yield. */
\r
930 taskEXIT_CRITICAL();
\r
936 /*-----------------------------------------------------------*/
\r
938 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
940 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
942 portBASE_TYPE xYieldRequired = pdFALSE;
\r
945 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
947 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
949 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
951 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
953 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
954 vListRemove( &( pxTCB->xGenericListItem ) );
\r
955 prvAddTaskToReadyQueue( pxTCB );
\r
959 /* We cannot access the delayed or ready lists, so will hold this
\r
960 task pending until the scheduler is resumed, at which point a
\r
961 yield will be performed if necessary. */
\r
962 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
966 return xYieldRequired;
\r
974 /*-----------------------------------------------------------
\r
975 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
976 *----------------------------------------------------------*/
\r
979 void vTaskStartScheduler( void )
\r
981 portBASE_TYPE xReturn;
\r
983 /* Add the idle task at the lowest priority. */
\r
984 xReturn = xTaskCreate( prvIdleTask, ( signed portCHAR * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
\r
986 if( xReturn == pdPASS )
\r
988 /* Interrupts are turned off here, to ensure a tick does not occur
\r
989 before or during the call to xPortStartScheduler(). The stacks of
\r
990 the created tasks contain a status word with interrupts switched on
\r
991 so interrupts will automatically get re-enabled when the first task
\r
994 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
995 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
996 portDISABLE_INTERRUPTS();
\r
998 xSchedulerRunning = pdTRUE;
\r
999 xTickCount = ( portTickType ) 0;
\r
1001 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1002 macro must be defined to configure the timer/counter used to generate
\r
1003 the run time counter time base. */
\r
1004 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1006 /* Setting up the timer tick is hardware specific and thus in the
\r
1007 portable interface. */
\r
1008 if( xPortStartScheduler() )
\r
1010 /* Should not reach here as if the scheduler is running the
\r
1011 function will not return. */
\r
1015 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1019 /*-----------------------------------------------------------*/
\r
1021 void vTaskEndScheduler( void )
\r
1023 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1024 routine so the original ISRs can be restored if necessary. The port
\r
1025 layer must ensure interrupts enable bit is left in the correct state. */
\r
1026 portDISABLE_INTERRUPTS();
\r
1027 xSchedulerRunning = pdFALSE;
\r
1028 vPortEndScheduler();
\r
1030 /*----------------------------------------------------------*/
\r
1032 void vTaskSuspendAll( void )
\r
1034 /* A critical section is not required as the variable is of type
\r
1036 ++uxSchedulerSuspended;
\r
1038 /*----------------------------------------------------------*/
\r
1040 signed portBASE_TYPE xTaskResumeAll( void )
\r
1042 register tskTCB *pxTCB;
\r
1043 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1045 /* It is possible that an ISR caused a task to be removed from an event
\r
1046 list while the scheduler was suspended. If this was the case then the
\r
1047 removed task will have been added to the xPendingReadyList. Once the
\r
1048 scheduler has been resumed it is safe to move all the pending ready
\r
1049 tasks from this list into their appropriate ready list. */
\r
1050 portENTER_CRITICAL();
\r
1052 --uxSchedulerSuspended;
\r
1054 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1056 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
\r
1058 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1060 /* Move any readied tasks from the pending list into the
\r
1061 appropriate ready list. */
\r
1062 while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL )
\r
1064 vListRemove( &( pxTCB->xEventListItem ) );
\r
1065 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1066 prvAddTaskToReadyQueue( pxTCB );
\r
1068 /* If we have moved a task that has a priority higher than
\r
1069 the current task then we should yield. */
\r
1070 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1072 xYieldRequired = pdTRUE;
\r
1076 /* If any ticks occurred while the scheduler was suspended then
\r
1077 they should be processed now. This ensures the tick count does not
\r
1078 slip, and that any delayed tasks are resumed at the correct time. */
\r
1079 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1081 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
\r
1083 vTaskIncrementTick();
\r
1087 /* As we have processed some ticks it is appropriate to yield
\r
1088 to ensure the highest priority task that is ready to run is
\r
1089 the task actually running. */
\r
1090 #if configUSE_PREEMPTION == 1
\r
1092 xYieldRequired = pdTRUE;
\r
1097 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1099 xAlreadyYielded = pdTRUE;
\r
1100 xMissedYield = pdFALSE;
\r
1106 portEXIT_CRITICAL();
\r
1108 return xAlreadyYielded;
\r
1116 /*-----------------------------------------------------------
\r
1117 * PUBLIC TASK UTILITIES documented in task.h
\r
1118 *----------------------------------------------------------*/
\r
1122 portTickType xTaskGetTickCount( void )
\r
1124 portTickType xTicks;
\r
1126 /* Critical section required if running on a 16 bit processor. */
\r
1127 taskENTER_CRITICAL();
\r
1129 xTicks = xTickCount;
\r
1131 taskEXIT_CRITICAL();
\r
1135 /*-----------------------------------------------------------*/
\r
1137 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1139 /* A critical section is not required because the variables are of type
\r
1141 return uxCurrentNumberOfTasks;
\r
1143 /*-----------------------------------------------------------*/
\r
1145 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1147 void vTaskList( signed portCHAR *pcWriteBuffer )
\r
1149 unsigned portBASE_TYPE uxQueue;
\r
1151 /* This is a VERY costly function that should be used for debug only.
\r
1152 It leaves interrupts disabled for a LONG time. */
\r
1154 vTaskSuspendAll();
\r
1156 /* Run through all the lists that could potentially contain a TCB and
\r
1157 report the task name, state and stack high water mark. */
\r
1159 pcWriteBuffer[ 0 ] = ( signed portCHAR ) 0x00;
\r
1160 strcat( ( portCHAR * ) pcWriteBuffer, ( const portCHAR * ) "\r\n" );
\r
1162 uxQueue = uxTopUsedPriority + 1;
\r
1168 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1170 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1172 }while( uxQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
\r
1174 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1176 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1179 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1181 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1184 #if( INCLUDE_vTaskDelete == 1 )
\r
1186 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1188 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1193 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1195 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1197 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1206 /*----------------------------------------------------------*/
\r
1208 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1210 void vTaskGetRunTimeStats( signed portCHAR *pcWriteBuffer )
\r
1212 unsigned portBASE_TYPE uxQueue;
\r
1213 unsigned portLONG ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1215 /* This is a VERY costly function that should be used for debug only.
\r
1216 It leaves interrupts disabled for a LONG time. */
\r
1218 vTaskSuspendAll();
\r
1220 /* Run through all the lists that could potentially contain a TCB,
\r
1221 generating a table of run timer percentages in the provided
\r
1224 pcWriteBuffer[ 0 ] = ( signed portCHAR ) 0x00;
\r
1225 strcat( ( portCHAR * ) pcWriteBuffer, ( const portCHAR * ) "\r\n" );
\r
1227 uxQueue = uxTopUsedPriority + 1;
\r
1233 if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
\r
1235 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
\r
1237 }while( uxQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
\r
1239 if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
\r
1241 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
\r
1244 if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
\r
1246 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
\r
1249 #if ( INCLUDE_vTaskDelete == 1 )
\r
1251 if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
\r
1253 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, ulTotalRunTime );
\r
1258 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1260 if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1262 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, ulTotalRunTime );
\r
1271 /*----------------------------------------------------------*/
\r
1273 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1275 void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize )
\r
1277 portENTER_CRITICAL();
\r
1279 pcTraceBuffer = ( signed portCHAR * )pcBuffer;
\r
1280 pcTraceBufferStart = pcBuffer;
\r
1281 pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
\r
1282 xTracing = pdTRUE;
\r
1284 portEXIT_CRITICAL();
\r
1288 /*----------------------------------------------------------*/
\r
1290 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1292 unsigned portLONG ulTaskEndTrace( void )
\r
1294 unsigned portLONG ulBufferLength;
\r
1296 portENTER_CRITICAL();
\r
1297 xTracing = pdFALSE;
\r
1298 portEXIT_CRITICAL();
\r
1300 ulBufferLength = ( unsigned portLONG ) ( pcTraceBuffer - pcTraceBufferStart );
\r
1302 return ulBufferLength;
\r
1309 /*-----------------------------------------------------------
\r
1310 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1311 * documented in task.h
\r
1312 *----------------------------------------------------------*/
\r
1315 void vTaskIncrementTick( void )
\r
1317 /* Called by the portable layer each time a tick interrupt occurs.
\r
1318 Increments the tick then checks to see if the new tick value will cause any
\r
1319 tasks to be unblocked. */
\r
1320 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1323 if( xTickCount == ( portTickType ) 0 )
\r
1327 /* Tick count has overflowed so we need to swap the delay lists.
\r
1328 If there are any items in pxDelayedTaskList here then there is
\r
1330 pxTemp = pxDelayedTaskList;
\r
1331 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1332 pxOverflowDelayedTaskList = pxTemp;
\r
1333 xNumOfOverflows++;
\r
1336 /* See if this tick has made a timeout expire. */
\r
1337 prvCheckDelayedTasks();
\r
1343 /* The tick hook gets called at regular intervals, even if the
\r
1344 scheduler is locked. */
\r
1345 #if ( configUSE_TICK_HOOK == 1 )
\r
1347 extern void vApplicationTickHook( void );
\r
1349 vApplicationTickHook();
\r
1354 #if ( configUSE_TICK_HOOK == 1 )
\r
1356 extern void vApplicationTickHook( void );
\r
1358 /* Guard against the tick hook being called when the missed tick
\r
1359 count is being unwound (when the scheduler is being unlocked. */
\r
1360 if( uxMissedTicks == 0 )
\r
1362 vApplicationTickHook();
\r
1367 traceTASK_INCREMENT_TICK( xTickCount );
\r
1369 /*-----------------------------------------------------------*/
\r
1371 #if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1373 void vTaskCleanUpResources( void )
\r
1375 unsigned portSHORT usQueue;
\r
1376 volatile tskTCB *pxTCB;
\r
1378 usQueue = ( unsigned portSHORT ) uxTopUsedPriority + ( unsigned portSHORT ) 1;
\r
1380 /* Remove any TCB's from the ready queues. */
\r
1385 while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
\r
1387 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
\r
1388 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1390 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1392 }while( usQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
\r
1394 /* Remove any TCB's from the delayed queue. */
\r
1395 while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
\r
1397 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
\r
1398 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1400 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1403 /* Remove any TCB's from the overflow delayed queue. */
\r
1404 while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
\r
1406 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
\r
1407 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1409 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1412 while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
\r
1414 listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
\r
1415 vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
\r
1417 prvDeleteTCB( ( tskTCB * ) pxTCB );
\r
1422 /*-----------------------------------------------------------*/
\r
1424 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1426 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue )
\r
1430 /* If xTask is NULL then we are setting our own task hook. */
\r
1431 if( xTask == NULL )
\r
1433 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1437 xTCB = ( tskTCB * ) xTask;
\r
1440 /* Save the hook function in the TCB. A critical section is required as
\r
1441 the value can be accessed from an interrupt. */
\r
1442 portENTER_CRITICAL();
\r
1443 xTCB->pxTaskTag = pxTagValue;
\r
1444 portEXIT_CRITICAL();
\r
1448 /*-----------------------------------------------------------*/
\r
1450 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1452 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1455 pdTASK_HOOK_CODE xReturn;
\r
1457 /* If xTask is NULL then we are setting our own task hook. */
\r
1458 if( xTask == NULL )
\r
1460 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1464 xTCB = ( tskTCB * ) xTask;
\r
1467 /* Save the hook function in the TCB. A critical section is required as
\r
1468 the value can be accessed from an interrupt. */
\r
1469 portENTER_CRITICAL();
\r
1470 xReturn = xTCB->pxTaskTag;
\r
1471 portEXIT_CRITICAL();
\r
1477 /*-----------------------------------------------------------*/
\r
1479 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1481 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1484 portBASE_TYPE xReturn;
\r
1486 /* If xTask is NULL then we are calling our own task hook. */
\r
1487 if( xTask == NULL )
\r
1489 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1493 xTCB = ( tskTCB * ) xTask;
\r
1496 if( xTCB->pxTaskTag != NULL )
\r
1498 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1509 /*-----------------------------------------------------------*/
\r
1511 void vTaskSwitchContext( void )
\r
1513 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1515 /* The scheduler is currently suspended - do not allow a context
\r
1517 xMissedYield = pdTRUE;
\r
1521 traceTASK_SWITCHED_OUT();
\r
1523 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1525 unsigned portLONG ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
\r
1527 /* Add the amount of time the task has been running to the accumulated
\r
1528 time so far. The time the task started running was stored in
\r
1529 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1530 so count values are only valid until the timer overflows. Generally
\r
1531 this will be about 1 hour assuming a 1uS timer increment. */
\r
1532 pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
\r
1533 ulTaskSwitchedInTime = ulTempCounter;
\r
1537 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1538 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1540 /* Find the highest priority queue that contains ready tasks. */
\r
1541 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
\r
1543 --uxTopReadyPriority;
\r
1546 /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
\r
1547 same priority get an equal share of the processor time. */
\r
1548 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
\r
1550 traceTASK_SWITCHED_IN();
\r
1551 vWriteTraceToBuffer();
\r
1553 /*-----------------------------------------------------------*/
\r
1555 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1557 portTickType xTimeToWake;
\r
1559 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1560 SCHEDULER SUSPENDED. */
\r
1562 /* Place the event list item of the TCB in the appropriate event list.
\r
1563 This is placed in the list in priority order so the highest priority task
\r
1564 is the first to be woken by the event. */
\r
1565 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1567 /* We must remove ourselves from the ready list before adding ourselves
\r
1568 to the blocked list as the same list item is used for both lists. We have
\r
1569 exclusive access to the ready lists as the scheduler is locked. */
\r
1570 vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1573 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1575 if( xTicksToWait == portMAX_DELAY )
\r
1577 /* Add ourselves to the suspended task list instead of a delayed task
\r
1578 list to ensure we are not woken by a timing event. We will block
\r
1580 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1584 /* Calculate the time at which the task should be woken if the event does
\r
1585 not occur. This may overflow but this doesn't matter. */
\r
1586 xTimeToWake = xTickCount + xTicksToWait;
\r
1588 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1590 if( xTimeToWake < xTickCount )
\r
1592 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1593 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1597 /* The wake time has not overflowed, so we can use the current block list. */
\r
1598 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1604 /* Calculate the time at which the task should be woken if the event does
\r
1605 not occur. This may overflow but this doesn't matter. */
\r
1606 xTimeToWake = xTickCount + xTicksToWait;
\r
1608 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
1610 if( xTimeToWake < xTickCount )
\r
1612 /* Wake time has overflowed. Place this item in the overflow list. */
\r
1613 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1617 /* The wake time has not overflowed, so we can use the current block list. */
\r
1618 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1623 /*-----------------------------------------------------------*/
\r
1625 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1627 tskTCB *pxUnblockedTCB;
\r
1628 portBASE_TYPE xReturn;
\r
1630 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1631 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1633 /* The event list is sorted in priority order, so we can remove the
\r
1634 first in the list, remove the TCB from the delayed list, and add
\r
1635 it to the ready list.
\r
1637 If an event is for a queue that is locked then this function will never
\r
1638 get called - the lock count on the queue will get modified instead. This
\r
1639 means we can always expect exclusive access to the event list here. */
\r
1640 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1641 vListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1643 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1645 vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1646 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1650 /* We cannot access the delayed or ready lists, so will hold this
\r
1651 task pending until the scheduler is resumed. */
\r
1652 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1655 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1657 /* Return true if the task removed from the event list has
\r
1658 a higher priority than the calling task. This allows
\r
1659 the calling task to know if it should force a context
\r
1665 xReturn = pdFALSE;
\r
1670 /*-----------------------------------------------------------*/
\r
1672 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1674 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1675 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1677 /*-----------------------------------------------------------*/
\r
1679 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1681 portBASE_TYPE xReturn;
\r
1683 portENTER_CRITICAL();
\r
1685 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1686 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1687 the maximum block time then the task should block indefinitely, and
\r
1688 therefore never time out. */
\r
1689 if( *pxTicksToWait == portMAX_DELAY )
\r
1691 xReturn = pdFALSE;
\r
1693 else /* We are not blocking indefinitely, perform the checks below. */
\r
1696 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
1698 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
1699 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
1700 It must have wrapped all the way around and gone past us again. This
\r
1701 passed since vTaskSetTimeout() was called. */
\r
1704 else if( ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) < ( portTickType ) *pxTicksToWait )
\r
1706 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
1707 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
1708 vTaskSetTimeOutState( pxTimeOut );
\r
1709 xReturn = pdFALSE;
\r
1716 portEXIT_CRITICAL();
\r
1720 /*-----------------------------------------------------------*/
\r
1722 void vTaskMissedYield( void )
\r
1724 xMissedYield = pdTRUE;
\r
1728 * -----------------------------------------------------------
\r
1730 * ----------------------------------------------------------
\r
1732 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
1733 * language extensions. The equivalent prototype for this function is:
\r
1735 * void prvIdleTask( void *pvParameters );
\r
1738 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
1740 /* Stop warnings. */
\r
1741 ( void ) pvParameters;
\r
1745 /* See if any tasks have been deleted. */
\r
1746 prvCheckTasksWaitingTermination();
\r
1748 #if ( configUSE_PREEMPTION == 0 )
\r
1750 /* If we are not using preemption we keep forcing a task switch to
\r
1751 see if any other task has become available. If we are using
\r
1752 preemption we don't need to do this as any task becoming available
\r
1753 will automatically get the processor anyway. */
\r
1758 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
1760 /* When using preemption tasks of equal priority will be
\r
1761 timesliced. If a task that is sharing the idle priority is ready
\r
1762 to run then the idle task should yield before the end of the
\r
1765 A critical region is not required here as we are just reading from
\r
1766 the list, and an occasional incorrect value will not matter. If
\r
1767 the ready list at the idle priority contains more than one task
\r
1768 then a task other than the idle task is ready to execute. */
\r
1769 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1776 #if ( configUSE_IDLE_HOOK == 1 )
\r
1778 extern void vApplicationIdleHook( void );
\r
1780 /* Call the user defined function from within the idle task. This
\r
1781 allows the application designer to add background functionality
\r
1782 without the overhead of a separate task.
\r
1783 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
1784 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
1785 vApplicationIdleHook();
\r
1789 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
1797 /*-----------------------------------------------------------
\r
1798 * File private functions documented at the top of the file.
\r
1799 *----------------------------------------------------------*/
\r
1803 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority )
\r
1805 /* Store the function name in the TCB. */
\r
1806 #if configMAX_TASK_NAME_LEN > 1
\r
1808 /* Don't bring strncpy into the build unnecessarily. */
\r
1809 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned portSHORT ) configMAX_TASK_NAME_LEN );
\r
1812 pxTCB->pcTaskName[ ( unsigned portSHORT ) configMAX_TASK_NAME_LEN - ( unsigned portSHORT ) 1 ] = '\0';
\r
1814 /* This is used as an array index so must ensure it's not too large. */
\r
1815 if( uxPriority >= configMAX_PRIORITIES )
\r
1817 uxPriority = configMAX_PRIORITIES - 1;
\r
1820 pxTCB->uxPriority = uxPriority;
\r
1821 #if ( configUSE_MUTEXES == 1 )
\r
1823 pxTCB->uxBasePriority = uxPriority;
\r
1827 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
1828 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
1830 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
1831 back to the containing TCB from a generic item in a list. */
\r
1832 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
1834 /* Event lists are always in priority order. */
\r
1835 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
1836 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
1838 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
1840 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
\r
1844 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1846 pxTCB->pxTaskTag = NULL;
\r
1850 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1852 pxTCB->ulRunTimeCounter = 0UL;
\r
1856 /*-----------------------------------------------------------*/
\r
1858 static void prvInitialiseTaskLists( void )
\r
1860 unsigned portBASE_TYPE uxPriority;
\r
1862 for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
1864 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
1867 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
1868 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
1869 vListInitialise( ( xList * ) &xPendingReadyList );
\r
1871 #if ( INCLUDE_vTaskDelete == 1 )
\r
1873 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
1877 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1879 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
1883 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
1885 pxDelayedTaskList = &xDelayedTaskList1;
\r
1886 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
1888 /*-----------------------------------------------------------*/
\r
1890 static void prvCheckTasksWaitingTermination( void )
\r
1892 #if ( INCLUDE_vTaskDelete == 1 )
\r
1894 portBASE_TYPE xListIsEmpty;
\r
1896 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
1897 too often in the idle task. */
\r
1898 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
\r
1900 vTaskSuspendAll();
\r
1901 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
1904 if( !xListIsEmpty )
\r
1908 portENTER_CRITICAL();
\r
1910 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
1911 vListRemove( &( pxTCB->xGenericListItem ) );
\r
1912 --uxCurrentNumberOfTasks;
\r
1915 portEXIT_CRITICAL();
\r
1917 prvDeleteTCB( pxTCB );
\r
1923 /*-----------------------------------------------------------*/
\r
1925 static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth )
\r
1929 /* Allocate space for the TCB. Where the memory comes from depends on
\r
1930 the implementation of the port malloc function. */
\r
1931 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
1933 if( pxNewTCB != NULL )
\r
1935 /* Allocate space for the stack used by the task being created.
\r
1936 The base of the stack memory stored in the TCB so the task can
\r
1937 be deleted later if required. */
\r
1938 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMalloc( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) );
\r
1940 if( pxNewTCB->pxStack == NULL )
\r
1942 /* Could not allocate the stack. Delete the allocated TCB. */
\r
1943 vPortFree( pxNewTCB );
\r
1948 /* Just to help debugging. */
\r
1949 memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
\r
1955 /*-----------------------------------------------------------*/
\r
1957 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1959 static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus )
\r
1961 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
1962 unsigned portSHORT usStackRemaining;
\r
1964 /* Write the details of all the TCB's in pxList into the buffer. */
\r
1965 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
1968 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
1969 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned portCHAR * ) pxNextTCB->pxStack );
\r
1970 sprintf( pcStatusString, ( portCHAR * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
\r
1971 strcat( ( portCHAR * ) pcWriteBuffer, ( portCHAR * ) pcStatusString );
\r
1973 } while( pxNextTCB != pxFirstTCB );
\r
1977 /*-----------------------------------------------------------*/
\r
1979 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1981 static void prvGenerateRunTimeStatsForTasksInList( const signed portCHAR *pcWriteBuffer, xList *pxList, unsigned portLONG ulTotalRunTime )
\r
1983 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
1984 unsigned portLONG ulStatsAsPercentage;
\r
1986 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
1987 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
1990 /* Get next TCB in from the list. */
\r
1991 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
1993 /* Divide by zero check. */
\r
1994 if( ulTotalRunTime > 0UL )
\r
1996 /* Has the task run at all? */
\r
1997 if( pxNextTCB->ulRunTimeCounter == 0 )
\r
1999 /* The task has used no CPU time at all. */
\r
2000 sprintf( pcStatsString, ( portCHAR * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2004 /* What percentage of the total run time as the task used?
\r
2005 This will always be rounded down to the nearest integer. */
\r
2006 ulStatsAsPercentage = ( 100UL * pxNextTCB->ulRunTimeCounter ) / ulTotalRunTime;
\r
2008 if( ulStatsAsPercentage > 0UL )
\r
2010 sprintf( pcStatsString, ( portCHAR * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2014 /* If the percentage is zero here then the task has
\r
2015 consumed less than 1% of the total run time. */
\r
2016 sprintf( pcStatsString, ( portCHAR * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2020 strcat( ( portCHAR * ) pcWriteBuffer, ( portCHAR * ) pcStatsString );
\r
2023 } while( pxNextTCB != pxFirstTCB );
\r
2027 /*-----------------------------------------------------------*/
\r
2029 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2031 unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte )
\r
2033 register unsigned portSHORT usCount = 0;
\r
2035 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2037 pucStackByte -= portSTACK_GROWTH;
\r
2041 usCount /= sizeof( portSTACK_TYPE );
\r
2047 /*-----------------------------------------------------------*/
\r
2049 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2051 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2054 unsigned portCHAR *pcEndOfStack;
\r
2056 pxTCB = prvGetTCBFromHandle( xTask );
\r
2058 #if portSTACK_GROWTH < 0
\r
2060 pcEndOfStack = ( unsigned portCHAR * ) pxTCB->pxStack;
\r
2064 pcEndOfStack = ( unsigned portCHAR * ) pxTCB->pxEndOfStack;
\r
2068 return usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2072 /*-----------------------------------------------------------*/
\r
2074 #if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
\r
2076 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2078 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2079 the task to free any memory allocated at the application level. */
\r
2080 vPortFree( pxTCB->pxStack );
\r
2081 vPortFree( pxTCB );
\r
2087 /*-----------------------------------------------------------*/
\r
2089 #if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
\r
2091 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2093 /* A critical section is not required as this is not called from
\r
2094 an interrupt and the current TCB will always be the same for any
\r
2095 individual execution thread. */
\r
2096 return pxCurrentTCB;
\r
2101 /*-----------------------------------------------------------*/
\r
2103 #if ( INCLUDE_xTaskGetSchedulerState == 1 )
\r
2105 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2107 portBASE_TYPE xReturn;
\r
2109 if( xSchedulerRunning == pdFALSE )
\r
2111 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2115 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2117 xReturn = taskSCHEDULER_RUNNING;
\r
2121 xReturn = taskSCHEDULER_SUSPENDED;
\r
2129 /*-----------------------------------------------------------*/
\r
2131 #if ( configUSE_MUTEXES == 1 )
\r
2133 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2135 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2137 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2139 /* Adjust the mutex holder state to account for its new priority. */
\r
2140 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2142 /* If the task being modified is in the ready state it will need to
\r
2143 be moved in to a new list. */
\r
2144 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
2146 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2148 /* Inherit the priority before being moved into the new list. */
\r
2149 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2150 prvAddTaskToReadyQueue( pxTCB );
\r
2154 /* Just inherit the priority. */
\r
2155 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2161 /*-----------------------------------------------------------*/
\r
2163 #if ( configUSE_MUTEXES == 1 )
\r
2165 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2167 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2169 if( pxMutexHolder != NULL )
\r
2171 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2173 /* We must be the running task to be able to give the mutex back.
\r
2174 Remove ourselves from the ready list we currently appear in. */
\r
2175 vListRemove( &( pxTCB->xGenericListItem ) );
\r
2177 /* Disinherit the priority before adding ourselves into the new
\r
2179 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2180 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2181 prvAddTaskToReadyQueue( pxTCB );
\r
2187 /*-----------------------------------------------------------*/
\r
2189 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2191 void vTaskEnterCritical( void )
\r
2193 portDISABLE_INTERRUPTS();
\r
2195 if( xSchedulerRunning != pdFALSE )
\r
2197 pxCurrentTCB->uxCriticalNesting++;
\r
2202 /*-----------------------------------------------------------*/
\r
2204 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2206 void vTaskExitCritical( void )
\r
2208 if( xSchedulerRunning != pdFALSE )
\r
2210 if( pxCurrentTCB->uxCriticalNesting > 0 )
\r
2212 pxCurrentTCB->uxCriticalNesting--;
\r
2214 if( pxCurrentTCB->uxCriticalNesting == 0 )
\r
2216 portENABLE_INTERRUPTS();
\r
2223 /*-----------------------------------------------------------*/
\r
projects / freertos / blob