2 FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to distribute
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28 >>! a combined work that includes FreeRTOS without being obliged to provide
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29 >>! the source code for proprietary components outside of the FreeRTOS
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 /* Standard includes. */
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70 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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71 all the API functions to use the MPU wrappers. That should only be done when
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72 task.h is included from an application file. */
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73 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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75 /* FreeRTOS includes. */
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76 #include "FreeRTOS.h"
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79 #include "StackMacros.h"
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81 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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82 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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83 header files above, but not in this file, in order to generate the correct
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84 privileged Vs unprivileged linkage and placement. */
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85 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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87 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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88 /* At the bottom of this file are two optional functions that can be used
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89 to generate human readable text from the raw data generated by the
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90 uxTaskGetSystemState() function. Note the formatting functions are provided
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91 for convenience only, and are NOT considered part of the kernel. */
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93 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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95 /* Sanity check the configuration. */
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96 #if configUSE_TICKLESS_IDLE != 0
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97 #if INCLUDE_vTaskSuspend != 1
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98 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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99 #endif /* INCLUDE_vTaskSuspend */
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100 #endif /* configUSE_TICKLESS_IDLE */
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103 * Defines the size, in words, of the stack allocated to the idle task.
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105 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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107 #if( configUSE_PREEMPTION == 0 )
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108 /* If the cooperative scheduler is being used then a yield should not be
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109 performed just because a higher priority task has been woken. */
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110 #define taskYIELD_IF_USING_PREEMPTION()
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112 #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
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116 * Task control block. A task control block (TCB) is allocated for each task,
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117 * and stores task state information, including a pointer to the task's context
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118 * (the task's run time environment, including register values)
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120 typedef struct tskTaskControlBlock
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122 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 TCB STRUCT. */
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124 #if ( portUSING_MPU_WRAPPERS == 1 )
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125 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
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128 xListItem xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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129 xListItem xEventListItem; /*< Used to reference a task from an event list. */
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130 unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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131 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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132 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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134 #if ( portSTACK_GROWTH > 0 )
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135 portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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138 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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139 unsigned portBASE_TYPE uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
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142 #if ( configUSE_TRACE_FACILITY == 1 )
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143 unsigned portBASE_TYPE uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
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144 unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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147 #if ( configUSE_MUTEXES == 1 )
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148 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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151 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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152 pdTASK_HOOK_CODE pxTaskTag;
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155 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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156 unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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159 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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160 /* Allocate a Newlib reent structure that is specific to this task.
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161 Note Newlib support has been included by popular demand, but is not
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162 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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163 responsible for resulting newlib operation. User must be familiar with
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164 newlib and must provide system-wide implementations of the necessary
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165 stubs. Be warned that (at the time of writing) the current newlib design
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166 implements a system-wide malloc() that must be provided with locks. */
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167 struct _reent xNewLib_reent;
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173 * Some kernel aware debuggers require the data the debugger needs access to to
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174 * be global, rather than file scope.
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176 #ifdef portREMOVE_STATIC_QUALIFIER
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180 /*lint -e956 A manual analysis and inspection has been used to determine which
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181 static variables must be declared volatile. */
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183 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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185 /* Lists for ready and blocked tasks. --------------------*/
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186 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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187 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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188 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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189 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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190 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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191 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
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193 #if ( INCLUDE_vTaskDelete == 1 )
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195 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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196 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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200 #if ( INCLUDE_vTaskSuspend == 1 )
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202 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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206 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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208 PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
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212 /* Other file private variables. --------------------------------*/
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213 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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214 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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215 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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216 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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217 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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218 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxPendedTicks = ( unsigned portBASE_TYPE ) 0U;
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219 PRIVILEGED_DATA static volatile portBASE_TYPE xYieldPending = pdFALSE;
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220 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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221 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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222 PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = portMAX_DELAY;
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224 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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226 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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227 PRIVILEGED_DATA static unsigned long ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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233 /* Debugging and trace facilities private variables and macros. ------------*/
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236 * The value used to fill the stack of a task when the task is created. This
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237 * is used purely for checking the high water mark for tasks.
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239 #define tskSTACK_FILL_BYTE ( 0xa5U )
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242 * Macros used by vListTask to indicate which state a task is in.
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244 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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245 #define tskREADY_CHAR ( ( signed char ) 'R' )
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246 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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247 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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249 /*-----------------------------------------------------------*/
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251 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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253 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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254 performed in a generic way that is not optimised to any particular
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255 microcontroller architecture. */
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257 /* uxTopReadyPriority holds the priority of the highest priority ready
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259 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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261 if( ( uxPriority ) > uxTopReadyPriority ) \
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263 uxTopReadyPriority = ( uxPriority ); \
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265 } /* taskRECORD_READY_PRIORITY */
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267 /*-----------------------------------------------------------*/
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269 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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271 /* Find the highest priority queue that contains ready tasks. */ \
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272 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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274 configASSERT( uxTopReadyPriority ); \
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275 --uxTopReadyPriority; \
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278 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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279 the same priority get an equal share of the processor time. */ \
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280 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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281 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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283 /*-----------------------------------------------------------*/
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285 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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286 they are only required when a port optimised method of task selection is
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288 #define taskRESET_READY_PRIORITY( uxPriority )
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289 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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291 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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293 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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294 performed in a way that is tailored to the particular microcontroller
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295 architecture being used. */
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297 /* A port optimised version is provided. Call the port defined macros. */
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298 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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300 /*-----------------------------------------------------------*/
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302 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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304 unsigned portBASE_TYPE uxTopPriority; \
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306 /* Find the highest priority queue that contains ready tasks. */ \
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307 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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308 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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309 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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310 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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312 /*-----------------------------------------------------------*/
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314 /* A port optimised version is provided, call it only if the TCB being reset
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315 is being referenced from a ready list. If it is referenced from a delayed
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316 or suspended list then it won't be in a ready list. */
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317 #define taskRESET_READY_PRIORITY( uxPriority ) \
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319 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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321 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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325 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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327 /*-----------------------------------------------------------*/
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329 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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330 count overflows. */
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331 #define taskSWITCH_DELAYED_LISTS() \
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335 /* The delayed tasks list should be empty when the lists are switched. */ \
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336 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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338 pxTemp = pxDelayedTaskList; \
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339 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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340 pxOverflowDelayedTaskList = pxTemp; \
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341 xNumOfOverflows++; \
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343 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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345 /* The new current delayed list is empty. Set \
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346 xNextTaskUnblockTime to the maximum possible value so it is \
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347 extremely unlikely that the \
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348 if( xTickCount >= xNextTaskUnblockTime ) test will pass until \
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349 there is an item in the delayed list. */ \
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350 xNextTaskUnblockTime = portMAX_DELAY; \
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354 /* The new current delayed list is not empty, get the value of \
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355 the item at the head of the delayed list. This is the time at \
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356 which the task at the head of the delayed list should be removed \
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357 from the Blocked state. */ \
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358 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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359 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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363 /*-----------------------------------------------------------*/
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366 * Place the task represented by pxTCB into the appropriate ready list for
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367 * the task. It is inserted at the end of the list.
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369 #define prvAddTaskToReadyList( pxTCB ) \
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370 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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371 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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372 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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373 /*-----------------------------------------------------------*/
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376 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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377 * where NULL is used to indicate that the handle of the currently executing
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378 * task should be used in place of the parameter. This macro simply checks to
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379 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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381 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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383 /* Callback function prototypes. --------------------------*/
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384 extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
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385 extern void vApplicationTickHook( void );
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387 /* File private functions. --------------------------------*/
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390 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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391 * into the TCB structure.
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393 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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396 * Utility to ready all the lists used by the scheduler. This is called
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397 * automatically upon the creation of the first task.
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399 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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402 * The idle task, which as all tasks is implemented as a never ending loop.
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403 * The idle task is automatically created and added to the ready lists upon
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404 * creation of the first user task.
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406 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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407 * language extensions. The equivalent prototype for this function is:
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409 * void prvIdleTask( void *pvParameters );
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412 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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415 * Utility to free all memory allocated by the scheduler to hold a TCB,
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416 * including the stack pointed to by the TCB.
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418 * This does not free memory allocated by the task itself (i.e. memory
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419 * allocated by calls to pvPortMalloc from within the tasks application code).
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421 #if ( INCLUDE_vTaskDelete == 1 )
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423 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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428 * Used only by the idle task. This checks to see if anything has been placed
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429 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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430 * and its TCB deleted.
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432 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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435 * The currently executing task is entering the Blocked state. Add the task to
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436 * either the current or the overflow delayed task list.
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438 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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441 * Allocates memory from the heap for a TCB and associated stack. Checks the
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442 * allocation was successful.
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444 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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447 * Fills an xTaskStatusType structure with information on each task that is
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448 * referenced from the pxList list (which may be a ready list, a delayed list,
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449 * a suspended list, etc.).
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451 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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452 * NORMAL APPLICATION CODE.
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454 #if ( configUSE_TRACE_FACILITY == 1 )
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456 static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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461 * When a task is created, the stack of the task is filled with a known value.
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462 * This function determines the 'high water mark' of the task stack by
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463 * determining how much of the stack remains at the original preset value.
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465 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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467 static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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472 * Return the amount of time, in ticks, that will pass before the kernel will
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473 * next move a task from the Blocked state to the Running state.
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475 * This conditional compilation should use inequality to 0, not equality to 1.
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476 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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477 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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478 * set to a value other than 1.
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480 #if ( configUSE_TICKLESS_IDLE != 0 )
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482 static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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486 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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488 signed portBASE_TYPE xReturn;
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491 configASSERT( pxTaskCode );
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492 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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494 /* Allocate the memory required by the TCB and stack for the new task,
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495 checking that the allocation was successful. */
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496 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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498 if( pxNewTCB != NULL )
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500 portSTACK_TYPE *pxTopOfStack;
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502 #if( portUSING_MPU_WRAPPERS == 1 )
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503 /* Should the task be created in privileged mode? */
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504 portBASE_TYPE xRunPrivileged;
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505 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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507 xRunPrivileged = pdTRUE;
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511 xRunPrivileged = pdFALSE;
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513 uxPriority &= ~portPRIVILEGE_BIT;
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514 #endif /* portUSING_MPU_WRAPPERS == 1 */
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516 /* Calculate the top of stack address. This depends on whether the
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517 stack grows from high memory to low (as per the 80x86) or visa versa.
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518 portSTACK_GROWTH is used to make the result positive or negative as
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519 required by the port. */
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520 #if( portSTACK_GROWTH < 0 )
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522 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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523 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */
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525 /* Check the alignment of the calculated top of stack is correct. */
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526 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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528 #else /* portSTACK_GROWTH */
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530 pxTopOfStack = pxNewTCB->pxStack;
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532 /* Check the alignment of the stack buffer is correct. */
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533 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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535 /* If we want to use stack checking on architectures that use
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536 a positive stack growth direction then we also need to store the
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537 other extreme of the stack space. */
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538 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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540 #endif /* portSTACK_GROWTH */
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542 /* Setup the newly allocated TCB with the initial state of the task. */
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543 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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545 /* Initialize the TCB stack to look as if the task was already running,
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546 but had been interrupted by the scheduler. The return address is set
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547 to the start of the task function. Once the stack has been initialised
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548 the top of stack variable is updated. */
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549 #if( portUSING_MPU_WRAPPERS == 1 )
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551 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
553 #else /* portUSING_MPU_WRAPPERS */
\r
555 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
557 #endif /* portUSING_MPU_WRAPPERS */
\r
559 if( ( void * ) pxCreatedTask != NULL )
\r
561 /* Pass the TCB out - in an anonymous way. The calling function/
\r
562 task can use this as a handle to delete the task later if
\r
564 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
\r
567 /* Ensure interrupts don't access the task lists while they are being
\r
569 taskENTER_CRITICAL();
\r
571 uxCurrentNumberOfTasks++;
\r
572 if( pxCurrentTCB == NULL )
\r
574 /* There are no other tasks, or all the other tasks are in
\r
575 the suspended state - make this the current task. */
\r
576 pxCurrentTCB = pxNewTCB;
\r
578 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
580 /* This is the first task to be created so do the preliminary
\r
581 initialisation required. We will not recover if this call
\r
582 fails, but we will report the failure. */
\r
583 prvInitialiseTaskLists();
\r
588 /* If the scheduler is not already running, make this task the
\r
589 current task if it is the highest priority task to be created
\r
591 if( xSchedulerRunning == pdFALSE )
\r
593 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
595 pxCurrentTCB = pxNewTCB;
\r
602 #if ( configUSE_TRACE_FACILITY == 1 )
\r
604 /* Add a counter into the TCB for tracing only. */
\r
605 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
607 #endif /* configUSE_TRACE_FACILITY */
\r
608 traceTASK_CREATE( pxNewTCB );
\r
610 prvAddTaskToReadyList( pxNewTCB );
\r
613 portSETUP_TCB( pxNewTCB );
\r
615 taskEXIT_CRITICAL();
\r
619 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
620 traceTASK_CREATE_FAILED();
\r
623 if( xReturn == pdPASS )
\r
625 if( xSchedulerRunning != pdFALSE )
\r
627 /* If the created task is of a higher priority than the current task
\r
628 then it should run now. */
\r
629 if( pxCurrentTCB->uxPriority < uxPriority )
\r
631 taskYIELD_IF_USING_PREEMPTION();
\r
638 /*-----------------------------------------------------------*/
\r
640 #if ( INCLUDE_vTaskDelete == 1 )
\r
642 void vTaskDelete( xTaskHandle xTaskToDelete )
\r
646 taskENTER_CRITICAL();
\r
648 /* If null is passed in here then we are deleting ourselves. */
\r
649 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
651 /* Remove task from the ready list and place in the termination list.
\r
652 This will stop the task from be scheduled. The idle task will check
\r
653 the termination list and free up any memory allocated by the
\r
654 scheduler for the TCB and stack. */
\r
655 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
657 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
660 /* Is the task waiting on an event also? */
\r
661 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
663 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
666 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
668 /* Increment the ucTasksDeleted variable so the idle task knows
\r
669 there is a task that has been deleted and that it should therefore
\r
670 check the xTasksWaitingTermination list. */
\r
673 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
674 can detect that the task lists need re-generating. */
\r
677 traceTASK_DELETE( pxTCB );
\r
679 taskEXIT_CRITICAL();
\r
681 /* Force a reschedule if we have just deleted the current task. */
\r
682 if( xSchedulerRunning != pdFALSE )
\r
684 if( pxTCB == pxCurrentTCB )
\r
686 configASSERT( uxSchedulerSuspended == 0 );
\r
687 portYIELD_WITHIN_API();
\r
692 #endif /* INCLUDE_vTaskDelete */
\r
693 /*-----------------------------------------------------------*/
\r
695 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
697 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
699 portTickType xTimeToWake;
\r
700 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
702 configASSERT( pxPreviousWakeTime );
\r
703 configASSERT( ( xTimeIncrement > 0U ) );
\r
704 configASSERT( uxSchedulerSuspended == 0 );
\r
708 /* Minor optimisation. The tick count cannot change in this
\r
710 const portTickType xConstTickCount = xTickCount;
\r
712 /* Generate the tick time at which the task wants to wake. */
\r
713 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
715 if( xConstTickCount < *pxPreviousWakeTime )
\r
717 /* The tick count has overflowed since this function was
\r
718 lasted called. In this case the only time we should ever
\r
719 actually delay is if the wake time has also overflowed,
\r
720 and the wake time is greater than the tick time. When this
\r
721 is the case it is as if neither time had overflowed. */
\r
722 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
724 xShouldDelay = pdTRUE;
\r
729 /* The tick time has not overflowed. In this case we will
\r
730 delay if either the wake time has overflowed, and/or the
\r
731 tick time is less than the wake time. */
\r
732 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
734 xShouldDelay = pdTRUE;
\r
738 /* Update the wake time ready for the next call. */
\r
739 *pxPreviousWakeTime = xTimeToWake;
\r
741 if( xShouldDelay != pdFALSE )
\r
743 traceTASK_DELAY_UNTIL();
\r
745 /* We must remove ourselves from the ready list before adding
\r
746 ourselves to the blocked list as the same list item is used for
\r
748 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
750 /* The current task must be in a ready list, so there is
\r
751 no need to check, and the port reset macro can be called
\r
753 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
756 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
759 xAlreadyYielded = xTaskResumeAll();
\r
761 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
762 have put ourselves to sleep. */
\r
763 if( xAlreadyYielded == pdFALSE )
\r
765 portYIELD_WITHIN_API();
\r
769 #endif /* INCLUDE_vTaskDelayUntil */
\r
770 /*-----------------------------------------------------------*/
\r
772 #if ( INCLUDE_vTaskDelay == 1 )
\r
774 void vTaskDelay( portTickType xTicksToDelay )
\r
776 portTickType xTimeToWake;
\r
777 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
780 /* A delay time of zero just forces a reschedule. */
\r
781 if( xTicksToDelay > ( portTickType ) 0U )
\r
783 configASSERT( uxSchedulerSuspended == 0 );
\r
788 /* A task that is removed from the event list while the
\r
789 scheduler is suspended will not get placed in the ready
\r
790 list or removed from the blocked list until the scheduler
\r
793 This task cannot be in an event list as it is the currently
\r
796 /* Calculate the time to wake - this may overflow but this is
\r
798 xTimeToWake = xTickCount + xTicksToDelay;
\r
800 /* We must remove ourselves from the ready list before adding
\r
801 ourselves to the blocked list as the same list item is used for
\r
803 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
805 /* The current task must be in a ready list, so there is
\r
806 no need to check, and the port reset macro can be called
\r
808 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
810 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
812 xAlreadyYielded = xTaskResumeAll();
\r
815 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
816 have put ourselves to sleep. */
\r
817 if( xAlreadyYielded == pdFALSE )
\r
819 portYIELD_WITHIN_API();
\r
823 #endif /* INCLUDE_vTaskDelay */
\r
824 /*-----------------------------------------------------------*/
\r
826 #if ( INCLUDE_eTaskGetState == 1 )
\r
828 eTaskState eTaskGetState( xTaskHandle xTask )
\r
830 eTaskState eReturn;
\r
831 xList *pxStateList;
\r
832 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
834 if( pxTCB == pxCurrentTCB )
\r
836 /* The task calling this function is querying its own state. */
\r
837 eReturn = eRunning;
\r
841 taskENTER_CRITICAL();
\r
843 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
845 taskEXIT_CRITICAL();
\r
847 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
849 /* The task being queried is referenced from one of the Blocked
\r
851 eReturn = eBlocked;
\r
854 #if ( INCLUDE_vTaskSuspend == 1 )
\r
855 else if( pxStateList == &xSuspendedTaskList )
\r
857 /* The task being queried is referenced from the suspended
\r
858 list. Is it genuinely suspended or is it block
\r
860 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
862 eReturn = eSuspended;
\r
866 eReturn = eBlocked;
\r
871 #if ( INCLUDE_vTaskDelete == 1 )
\r
872 else if( pxStateList == &xTasksWaitingTermination )
\r
874 /* The task being queried is referenced from the deleted
\r
876 eReturn = eDeleted;
\r
882 /* If the task is not in any other state, it must be in the
\r
883 Ready (including pending ready) state. */
\r
891 #endif /* INCLUDE_eTaskGetState */
\r
892 /*-----------------------------------------------------------*/
\r
894 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
896 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
\r
899 unsigned portBASE_TYPE uxReturn;
\r
901 taskENTER_CRITICAL();
\r
903 /* If null is passed in here then we are changing the
\r
904 priority of the calling function. */
\r
905 pxTCB = prvGetTCBFromHandle( xTask );
\r
906 uxReturn = pxTCB->uxPriority;
\r
908 taskEXIT_CRITICAL();
\r
913 #endif /* INCLUDE_uxTaskPriorityGet */
\r
914 /*-----------------------------------------------------------*/
\r
916 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
918 void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
\r
921 unsigned portBASE_TYPE uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
922 portBASE_TYPE xYieldRequired = pdFALSE;
\r
924 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
926 /* Ensure the new priority is valid. */
\r
927 if( uxNewPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
\r
929 uxNewPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
932 taskENTER_CRITICAL();
\r
934 /* If null is passed in here then it is the priority of the calling
\r
935 task that is being changed. */
\r
936 pxTCB = prvGetTCBFromHandle( xTask );
\r
938 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
940 #if ( configUSE_MUTEXES == 1 )
\r
942 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
946 uxCurrentBasePriority = pxTCB->uxPriority;
\r
950 if( uxCurrentBasePriority != uxNewPriority )
\r
952 /* The priority change may have readied a task of higher
\r
953 priority than the calling task. */
\r
954 if( uxNewPriority > uxCurrentBasePriority )
\r
956 if( pxTCB != pxCurrentTCB )
\r
958 /* The priority of a task other than the currently
\r
959 running task is being raised. Is the priority being
\r
960 raised above that of the running task? */
\r
961 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
963 xYieldRequired = pdTRUE;
\r
968 /* The priority of the running task is being raised,
\r
969 but the running task must already be the highest
\r
970 priority task able to run so no yield is required. */
\r
973 else if( pxTCB == pxCurrentTCB )
\r
975 /* Setting the priority of the running task down means
\r
976 there may now be another task of higher priority that
\r
977 is ready to execute. */
\r
978 xYieldRequired = pdTRUE;
\r
982 /* Setting the priority of any other task down does not
\r
983 require a yield as the running task must be above the
\r
984 new priority of the task being modified. */
\r
987 /* Remember the ready list the task might be referenced from
\r
988 before its uxPriority member is changed so the
\r
989 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
990 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
992 #if ( configUSE_MUTEXES == 1 )
\r
994 /* Only change the priority being used if the task is not
\r
995 currently using an inherited priority. */
\r
996 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
998 pxTCB->uxPriority = uxNewPriority;
\r
1001 /* The base priority gets set whatever. */
\r
1002 pxTCB->uxBasePriority = uxNewPriority;
\r
1006 pxTCB->uxPriority = uxNewPriority;
\r
1010 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1012 /* If the task is in the blocked or suspended list we need do
\r
1013 nothing more than change it's priority variable. However, if
\r
1014 the task is in a ready list it needs to be removed and placed
\r
1015 in the list appropriate to its new priority. */
\r
1016 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1018 /* The task is currently in its ready list - remove before adding
\r
1019 it to it's new ready list. As we are in a critical section we
\r
1020 can do this even if the scheduler is suspended. */
\r
1021 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1023 /* It is known that the task is in its ready list so
\r
1024 there is no need to check again and the port level
\r
1025 reset macro can be called directly. */
\r
1026 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1028 prvAddTaskToReadyList( pxTCB );
\r
1031 if( xYieldRequired == pdTRUE )
\r
1033 taskYIELD_IF_USING_PREEMPTION();
\r
1036 /* Remove compiler warning about unused variables when the port
\r
1037 optimised task selection is not being used. */
\r
1038 ( void ) uxPriorityUsedOnEntry;
\r
1041 taskEXIT_CRITICAL();
\r
1044 #endif /* INCLUDE_vTaskPrioritySet */
\r
1045 /*-----------------------------------------------------------*/
\r
1047 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1049 void vTaskSuspend( xTaskHandle xTaskToSuspend )
\r
1053 taskENTER_CRITICAL();
\r
1055 /* If null is passed in here then it is the running task that is
\r
1056 being suspended. */
\r
1057 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1059 traceTASK_SUSPEND( pxTCB );
\r
1061 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
1062 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1064 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1067 /* Is the task waiting on an event also? */
\r
1068 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1070 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1073 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1075 taskEXIT_CRITICAL();
\r
1077 if( pxTCB == pxCurrentTCB )
\r
1079 if( xSchedulerRunning != pdFALSE )
\r
1081 /* The current task has just been suspended. */
\r
1082 configASSERT( uxSchedulerSuspended == 0 );
\r
1083 portYIELD_WITHIN_API();
\r
1087 /* The scheduler is not running, but the task that was pointed
\r
1088 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1089 must be adjusted to point to a different task. */
\r
1090 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1092 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1093 NULL so when the next task is created pxCurrentTCB will
\r
1094 be set to point to it no matter what its relative priority
\r
1096 pxCurrentTCB = NULL;
\r
1100 vTaskSwitchContext();
\r
1106 #endif /* INCLUDE_vTaskSuspend */
\r
1107 /*-----------------------------------------------------------*/
\r
1109 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1111 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
1113 portBASE_TYPE xReturn = pdFALSE;
\r
1114 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1116 /* It does not make sense to check if the calling task is suspended. */
\r
1117 configASSERT( xTask );
\r
1119 /* Is the task we are attempting to resume actually in the
\r
1120 suspended list? */
\r
1121 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1123 /* Has the task already been resumed from within an ISR? */
\r
1124 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1126 /* Is it in the suspended list because it is in the
\r
1127 Suspended state? It is possible to be in the suspended
\r
1128 list because it is blocked on a task with no timeout
\r
1130 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1138 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1140 #endif /* INCLUDE_vTaskSuspend */
\r
1141 /*-----------------------------------------------------------*/
\r
1143 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1145 void vTaskResume( xTaskHandle xTaskToResume )
\r
1147 tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
\r
1149 /* It does not make sense to resume the calling task. */
\r
1150 configASSERT( xTaskToResume );
\r
1152 /* The parameter cannot be NULL as it is impossible to resume the
\r
1153 currently executing task. */
\r
1154 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1156 taskENTER_CRITICAL();
\r
1158 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1160 traceTASK_RESUME( pxTCB );
\r
1162 /* As we are in a critical section we can access the ready
\r
1163 lists even if the scheduler is suspended. */
\r
1164 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1165 prvAddTaskToReadyList( pxTCB );
\r
1167 /* We may have just resumed a higher priority task. */
\r
1168 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1170 /* This yield may not cause the task just resumed to run,
\r
1171 but will leave the lists in the correct state for the
\r
1173 taskYIELD_IF_USING_PREEMPTION();
\r
1177 taskEXIT_CRITICAL();
\r
1181 #endif /* INCLUDE_vTaskSuspend */
\r
1183 /*-----------------------------------------------------------*/
\r
1185 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1187 portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
\r
1189 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1190 tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
\r
1191 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1193 configASSERT( xTaskToResume );
\r
1195 /* RTOS ports that support interrupt nesting have the concept of a
\r
1196 maximum system call (or maximum API call) interrupt priority.
\r
1197 Interrupts that are above the maximum system call priority are keep
\r
1198 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1199 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1200 is defined in FreeRTOSConfig.h then
\r
1201 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1202 failure if a FreeRTOS API function is called from an interrupt that has
\r
1203 been assigned a priority above the configured maximum system call
\r
1204 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1205 from interrupts that have been assigned a priority at or (logically)
\r
1206 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1207 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1208 simple as possible. More information (albeit Cortex-M specific) is
\r
1209 provided on the following link:
\r
1210 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1211 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1213 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1215 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1217 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1219 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1221 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1223 xYieldRequired = pdTRUE;
\r
1226 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1227 prvAddTaskToReadyList( pxTCB );
\r
1231 /* We cannot access the delayed or ready lists, so will hold this
\r
1232 task pending until the scheduler is resumed, at which point a
\r
1233 yield will be performed if necessary. */
\r
1234 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1238 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1240 return xYieldRequired;
\r
1243 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1244 /*-----------------------------------------------------------*/
\r
1246 void vTaskStartScheduler( void )
\r
1248 portBASE_TYPE xReturn;
\r
1250 /* Add the idle task at the lowest priority. */
\r
1251 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1253 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1254 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1255 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1259 /* Create the idle task without storing its handle. */
\r
1260 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1262 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1264 #if ( configUSE_TIMERS == 1 )
\r
1266 if( xReturn == pdPASS )
\r
1268 xReturn = xTimerCreateTimerTask();
\r
1271 #endif /* configUSE_TIMERS */
\r
1273 if( xReturn == pdPASS )
\r
1275 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1276 before or during the call to xPortStartScheduler(). The stacks of
\r
1277 the created tasks contain a status word with interrupts switched on
\r
1278 so interrupts will automatically get re-enabled when the first task
\r
1280 portDISABLE_INTERRUPTS();
\r
1282 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1284 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1285 structure specific to the task that will run first. */
\r
1286 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1288 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1290 xSchedulerRunning = pdTRUE;
\r
1291 xTickCount = ( portTickType ) 0U;
\r
1293 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1294 macro must be defined to configure the timer/counter used to generate
\r
1295 the run time counter time base. */
\r
1296 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1298 /* Setting up the timer tick is hardware specific and thus in the
\r
1299 portable interface. */
\r
1300 if( xPortStartScheduler() != pdFALSE )
\r
1302 /* Should not reach here as if the scheduler is running the
\r
1303 function will not return. */
\r
1307 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1312 /* This line will only be reached if the kernel could not be started,
\r
1313 because there was not enough FreeRTOS heap to create the idle task
\r
1314 or the timer task. */
\r
1315 configASSERT( xReturn );
\r
1318 /*-----------------------------------------------------------*/
\r
1320 void vTaskEndScheduler( void )
\r
1322 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1323 routine so the original ISRs can be restored if necessary. The port
\r
1324 layer must ensure interrupts enable bit is left in the correct state. */
\r
1325 portDISABLE_INTERRUPTS();
\r
1326 xSchedulerRunning = pdFALSE;
\r
1327 vPortEndScheduler();
\r
1329 /*----------------------------------------------------------*/
\r
1331 void vTaskSuspendAll( void )
\r
1333 /* A critical section is not required as the variable is of type
\r
1334 portBASE_TYPE. Please read Richard Barry's reply in the following link to a
\r
1335 post in the FreeRTOS support forum before reporting this as a bug! -
\r
1336 http://goo.gl/wu4acr */
\r
1337 ++uxSchedulerSuspended;
\r
1339 /*----------------------------------------------------------*/
\r
1341 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1343 static portTickType prvGetExpectedIdleTime( void )
\r
1345 portTickType xReturn;
\r
1347 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1351 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1353 /* There are other idle priority tasks in the ready state. If
\r
1354 time slicing is used then the very next tick interrupt must be
\r
1360 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1366 #endif /* configUSE_TICKLESS_IDLE */
\r
1367 /*----------------------------------------------------------*/
\r
1369 signed portBASE_TYPE xTaskResumeAll( void )
\r
1372 portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1374 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1375 previous call to vTaskSuspendAll(). */
\r
1376 configASSERT( uxSchedulerSuspended );
\r
1378 /* It is possible that an ISR caused a task to be removed from an event
\r
1379 list while the scheduler was suspended. If this was the case then the
\r
1380 removed task will have been added to the xPendingReadyList. Once the
\r
1381 scheduler has been resumed it is safe to move all the pending ready
\r
1382 tasks from this list into their appropriate ready list. */
\r
1383 taskENTER_CRITICAL();
\r
1385 --uxSchedulerSuspended;
\r
1387 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1389 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1391 /* Move any readied tasks from the pending list into the
\r
1392 appropriate ready list. */
\r
1393 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1395 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1396 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1397 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1398 prvAddTaskToReadyList( pxTCB );
\r
1400 /* If we have moved a task that has a priority higher than
\r
1401 the current task then we should yield. */
\r
1402 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1404 xYieldPending = pdTRUE;
\r
1408 /* If any ticks occurred while the scheduler was suspended then
\r
1409 they should be processed now. This ensures the tick count does not
\r
1410 slip, and that any delayed tasks are resumed at the correct time. */
\r
1411 if( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1413 while( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1415 if( xTaskIncrementTick() != pdFALSE )
\r
1417 xYieldPending = pdTRUE;
\r
1423 if( xYieldPending == pdTRUE )
\r
1425 #if( configUSE_PREEMPTION != 0 )
\r
1427 xAlreadyYielded = pdTRUE;
\r
1430 taskYIELD_IF_USING_PREEMPTION();
\r
1435 taskEXIT_CRITICAL();
\r
1437 return xAlreadyYielded;
\r
1439 /*-----------------------------------------------------------*/
\r
1441 portTickType xTaskGetTickCount( void )
\r
1443 portTickType xTicks;
\r
1445 /* Critical section required if running on a 16 bit processor. */
\r
1446 taskENTER_CRITICAL();
\r
1448 xTicks = xTickCount;
\r
1450 taskEXIT_CRITICAL();
\r
1454 /*-----------------------------------------------------------*/
\r
1456 portTickType xTaskGetTickCountFromISR( void )
\r
1458 portTickType xReturn;
\r
1459 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1461 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1462 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1463 above the maximum system call priority are keep permanently enabled, even
\r
1464 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1465 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1466 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1467 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1468 assigned a priority above the configured maximum system call priority.
\r
1469 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1470 that have been assigned a priority at or (logically) below the maximum
\r
1471 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1472 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1473 More information (albeit Cortex-M specific) is provided on the following
\r
1474 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1475 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1477 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1478 xReturn = xTickCount;
\r
1479 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1483 /*-----------------------------------------------------------*/
\r
1485 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1487 /* A critical section is not required because the variables are of type
\r
1489 return uxCurrentNumberOfTasks;
\r
1491 /*-----------------------------------------------------------*/
\r
1493 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1495 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1499 /* If null is passed in here then the name of the calling task is being queried. */
\r
1500 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1501 configASSERT( pxTCB );
\r
1502 return &( pxTCB->pcTaskName[ 0 ] );
\r
1505 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1506 /*-----------------------------------------------------------*/
\r
1508 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1510 unsigned portBASE_TYPE uxTaskGetSystemState( xTaskStatusType *pxTaskStatusArray, unsigned portBASE_TYPE uxArraySize, unsigned long *pulTotalRunTime )
\r
1512 unsigned portBASE_TYPE uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1514 vTaskSuspendAll();
\r
1516 /* Is there a space in the array for each task in the system? */
\r
1517 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1519 /* Fill in an xTaskStatusType structure with information on each
\r
1520 task in the Ready state. */
\r
1524 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1526 } while( uxQueue > ( unsigned portBASE_TYPE ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1528 /* Fill in an xTaskStatusType structure with information on each
\r
1529 task in the Blocked state. */
\r
1530 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxDelayedTaskList, eBlocked );
\r
1531 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxOverflowDelayedTaskList, eBlocked );
\r
1533 #if( INCLUDE_vTaskDelete == 1 )
\r
1535 /* Fill in an xTaskStatusType structure with information on
\r
1536 each task that has been deleted but not yet cleaned up. */
\r
1537 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1541 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1543 /* Fill in an xTaskStatusType structure with information on
\r
1544 each task in the Suspended state. */
\r
1545 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1549 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1551 if( pulTotalRunTime != NULL )
\r
1553 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1554 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
1556 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1562 if( pulTotalRunTime != NULL )
\r
1564 *pulTotalRunTime = 0;
\r
1570 ( void ) xTaskResumeAll();
\r
1575 #endif /* configUSE_TRACE_FACILITY */
\r
1576 /*----------------------------------------------------------*/
\r
1578 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1580 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1582 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1583 started, then xIdleTaskHandle will be NULL. */
\r
1584 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1585 return xIdleTaskHandle;
\r
1588 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1589 /*----------------------------------------------------------*/
\r
1591 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1592 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1593 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1595 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1597 void vTaskStepTick( portTickType xTicksToJump )
\r
1599 /* Correct the tick count value after a period during which the tick
\r
1600 was suppressed. Note this does *not* call the tick hook function for
\r
1601 each stepped tick. */
\r
1602 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1603 xTickCount += xTicksToJump;
\r
1604 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
1607 #endif /* configUSE_TICKLESS_IDLE */
\r
1608 /*----------------------------------------------------------*/
\r
1610 portBASE_TYPE xTaskIncrementTick( void )
\r
1613 portTickType xItemValue;
\r
1614 portBASE_TYPE xSwitchRequired = pdFALSE;
\r
1616 /* Called by the portable layer each time a tick interrupt occurs.
\r
1617 Increments the tick then checks to see if the new tick value will cause any
\r
1618 tasks to be unblocked. */
\r
1619 traceTASK_INCREMENT_TICK( xTickCount );
\r
1620 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1622 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1623 delayed lists if it wraps to 0. */
\r
1627 /* Minor optimisation. The tick count cannot change in this
\r
1629 const portTickType xConstTickCount = xTickCount;
\r
1631 if( xConstTickCount == ( portTickType ) 0U )
\r
1633 taskSWITCH_DELAYED_LISTS();
\r
1636 /* See if this tick has made a timeout expire. Tasks are stored in the
\r
1637 queue in the order of their wake time - meaning once one tasks has been
\r
1638 found whose block time has not expired there is no need not look any
\r
1639 further down the list. */
\r
1640 if( xConstTickCount >= xNextTaskUnblockTime )
\r
1644 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1646 /* The delayed list is empty. Set xNextTaskUnblockTime to
\r
1647 the maximum possible value so it is extremely unlikely that
\r
1648 the if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1649 next time through. */
\r
1650 xNextTaskUnblockTime = portMAX_DELAY;
\r
1655 /* The delayed list is not empty, get the value of the item
\r
1656 at the head of the delayed list. This is the time at which
\r
1657 the task at the head of the delayed list must be removed
\r
1658 from the Blocked state. */
\r
1659 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1660 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1662 if( xConstTickCount < xItemValue )
\r
1664 /* It is not time to unblock this item yet, but the item
\r
1665 value is the time at which the task at the head of the
\r
1666 blocked list must be removed from the Blocked state -
\r
1667 so record the item value in xNextTaskUnblockTime. */
\r
1668 xNextTaskUnblockTime = xItemValue;
\r
1672 /* It is time to remove the item from the Blocked state. */
\r
1673 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1675 /* Is the task waiting on an event also? If so remove it
\r
1676 from the event list. */
\r
1677 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1679 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1682 /* Place the unblocked task into the appropriate ready
\r
1684 prvAddTaskToReadyList( pxTCB );
\r
1686 /* A task being unblocked cannot cause an immediate context
\r
1687 switch if preemption is turned off. */
\r
1688 #if ( configUSE_PREEMPTION == 1 )
\r
1690 /* Preemption is on, but a context switch should only
\r
1691 be performed if the unblocked task has a priority that
\r
1692 is equal to or higher than the currently executing
\r
1694 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1696 xSwitchRequired = pdTRUE;
\r
1699 #endif /* configUSE_PREEMPTION */
\r
1705 /* Tasks of equal priority to the currently running task will share
\r
1706 processing time (time slice) if preemption is on, and the application
\r
1707 writer has not explicitly turned time slicing off. */
\r
1708 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
1710 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1712 xSwitchRequired = pdTRUE;
\r
1715 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
1717 #if ( configUSE_TICK_HOOK == 1 )
\r
1719 /* Guard against the tick hook being called when the pended tick
\r
1720 count is being unwound (when the scheduler is being unlocked). */
\r
1721 if( uxPendedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1723 vApplicationTickHook();
\r
1726 #endif /* configUSE_TICK_HOOK */
\r
1732 /* The tick hook gets called at regular intervals, even if the
\r
1733 scheduler is locked. */
\r
1734 #if ( configUSE_TICK_HOOK == 1 )
\r
1736 vApplicationTickHook();
\r
1741 #if ( configUSE_PREEMPTION == 1 )
\r
1743 if( xYieldPending != pdFALSE )
\r
1745 xSwitchRequired = pdTRUE;
\r
1748 #endif /* configUSE_PREEMPTION */
\r
1750 return xSwitchRequired;
\r
1752 /*-----------------------------------------------------------*/
\r
1754 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1756 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1760 /* If xTask is NULL then we are setting our own task hook. */
\r
1761 if( xTask == NULL )
\r
1763 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1767 xTCB = ( tskTCB * ) xTask;
\r
1770 /* Save the hook function in the TCB. A critical section is required as
\r
1771 the value can be accessed from an interrupt. */
\r
1772 taskENTER_CRITICAL();
\r
1773 xTCB->pxTaskTag = pxHookFunction;
\r
1774 taskEXIT_CRITICAL();
\r
1777 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1778 /*-----------------------------------------------------------*/
\r
1780 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1782 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1785 pdTASK_HOOK_CODE xReturn;
\r
1787 /* If xTask is NULL then we are setting our own task hook. */
\r
1788 if( xTask == NULL )
\r
1790 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1794 xTCB = ( tskTCB * ) xTask;
\r
1797 /* Save the hook function in the TCB. A critical section is required as
\r
1798 the value can be accessed from an interrupt. */
\r
1799 taskENTER_CRITICAL();
\r
1800 xReturn = xTCB->pxTaskTag;
\r
1801 taskEXIT_CRITICAL();
\r
1806 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1807 /*-----------------------------------------------------------*/
\r
1809 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1811 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1814 portBASE_TYPE xReturn;
\r
1816 /* If xTask is NULL then we are calling our own task hook. */
\r
1817 if( xTask == NULL )
\r
1819 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1823 xTCB = ( tskTCB * ) xTask;
\r
1826 if( xTCB->pxTaskTag != NULL )
\r
1828 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1838 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1839 /*-----------------------------------------------------------*/
\r
1841 void vTaskSwitchContext( void )
\r
1843 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1845 /* The scheduler is currently suspended - do not allow a context
\r
1847 xYieldPending = pdTRUE;
\r
1851 xYieldPending = pdFALSE;
\r
1852 traceTASK_SWITCHED_OUT();
\r
1854 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1856 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1857 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1859 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1862 /* Add the amount of time the task has been running to the
\r
1863 accumulated time so far. The time the task started running was
\r
1864 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
1865 protection here so count values are only valid until the timer
\r
1866 overflows. The guard against negative values is to protect
\r
1867 against suspect run time stat counter implementations - which
\r
1868 are provided by the application, not the kernel. */
\r
1869 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
1871 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
1873 ulTaskSwitchedInTime = ulTotalRunTime;
\r
1875 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1877 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1878 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1880 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
1882 traceTASK_SWITCHED_IN();
\r
1884 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1886 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1887 structure specific to this task. */
\r
1888 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1890 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1893 /*-----------------------------------------------------------*/
\r
1895 void vTaskPlaceOnEventList( xList * const pxEventList, portTickType xTicksToWait )
\r
1897 portTickType xTimeToWake;
\r
1899 configASSERT( pxEventList );
\r
1901 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1902 SCHEDULER SUSPENDED. */
\r
1904 /* Place the event list item of the TCB in the appropriate event list.
\r
1905 This is placed in the list in priority order so the highest priority task
\r
1906 is the first to be woken by the event. */
\r
1907 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
1909 /* We must remove ourselves from the ready list before adding ourselves
\r
1910 to the blocked list as the same list item is used for both lists. We have
\r
1911 exclusive access to the ready lists as the scheduler is locked. */
\r
1912 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1914 /* The current task must be in a ready list, so there is no need to
\r
1915 check, and the port reset macro can be called directly. */
\r
1916 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1919 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1921 if( xTicksToWait == portMAX_DELAY )
\r
1923 /* Add ourselves to the suspended task list instead of a delayed task
\r
1924 list to ensure we are not woken by a timing event. We will block
\r
1926 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
1930 /* Calculate the time at which the task should be woken if the event does
\r
1931 not occur. This may overflow but this doesn't matter. */
\r
1932 xTimeToWake = xTickCount + xTicksToWait;
\r
1933 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1936 #else /* INCLUDE_vTaskSuspend */
\r
1938 /* Calculate the time at which the task should be woken if the event does
\r
1939 not occur. This may overflow but this doesn't matter. */
\r
1940 xTimeToWake = xTickCount + xTicksToWait;
\r
1941 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1943 #endif /* INCLUDE_vTaskSuspend */
\r
1945 /*-----------------------------------------------------------*/
\r
1947 void vTaskPlaceOnUnorderedEventList( xList * pxEventList, portTickType xItemValue, portTickType xTicksToWait )
\r
1949 portTickType xTimeToWake;
\r
1951 configASSERT( pxEventList );
\r
1953 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1954 SCHEDULER SUSPENDED. */
\r
1956 /* Store the item value in the event list item. */
\r
1957 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue );
\r
1959 /* Place the event list item of the TCB at the end of the appropriate event
\r
1961 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
1963 /* The task must be removed from the ready list before it is added to the
\r
1964 blocked list. Exclusive access can be assured to the ready list as the
\r
1965 scheduler is locked. */
\r
1966 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1968 /* The current task must be in a ready list, so there is no need to
\r
1969 check, and the port reset macro can be called directly. */
\r
1970 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1973 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1975 if( xTicksToWait == portMAX_DELAY )
\r
1977 /* Add the task to the suspended task list instead of a delayed task
\r
1978 list to ensure it is not woken by a timing event. It will block
\r
1980 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
1984 /* Calculate the time at which the task should be woken if the event does
\r
1985 not occur. This may overflow but this doesn't matter. */
\r
1986 xTimeToWake = xTickCount + xTicksToWait;
\r
1987 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1990 #else /* INCLUDE_vTaskSuspend */
\r
1992 /* Calculate the time at which the task should be woken if the event does
\r
1993 not occur. This may overflow but this doesn't matter. */
\r
1994 xTimeToWake = xTickCount + xTicksToWait;
\r
1995 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1997 #endif /* INCLUDE_vTaskSuspend */
\r
1999 /*-----------------------------------------------------------*/
\r
2001 #if configUSE_TIMERS == 1
\r
2003 void vTaskPlaceOnEventListRestricted( xList * const pxEventList, portTickType xTicksToWait )
\r
2005 portTickType xTimeToWake;
\r
2007 configASSERT( pxEventList );
\r
2009 /* This function should not be called by application code hence the
\r
2010 'Restricted' in its name. It is not part of the public API. It is
\r
2011 designed for use by kernel code, and has special calling requirements -
\r
2012 it should be called from a critical section. */
\r
2015 /* Place the event list item of the TCB in the appropriate event list.
\r
2016 In this case it is assume that this is the only task that is going to
\r
2017 be waiting on this event list, so the faster vListInsertEnd() function
\r
2018 can be used in place of vListInsert. */
\r
2019 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
2021 /* We must remove this task from the ready list before adding it to the
\r
2022 blocked list as the same list item is used for both lists. This
\r
2023 function is called form a critical section. */
\r
2024 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
2026 /* The current task must be in a ready list, so there is no need to
\r
2027 check, and the port reset macro can be called directly. */
\r
2028 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
2031 /* Calculate the time at which the task should be woken if the event does
\r
2032 not occur. This may overflow but this doesn't matter. */
\r
2033 xTimeToWake = xTickCount + xTicksToWait;
\r
2035 traceTASK_DELAY_UNTIL();
\r
2036 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
2039 #endif /* configUSE_TIMERS */
\r
2040 /*-----------------------------------------------------------*/
\r
2042 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
2044 tskTCB *pxUnblockedTCB;
\r
2045 portBASE_TYPE xReturn;
\r
2047 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
2048 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
2050 /* The event list is sorted in priority order, so we can remove the
\r
2051 first in the list, remove the TCB from the delayed list, and add
\r
2052 it to the ready list.
\r
2054 If an event is for a queue that is locked then this function will never
\r
2055 get called - the lock count on the queue will get modified instead. This
\r
2056 means we can always expect exclusive access to the event list here.
\r
2058 This function assumes that a check has already been made to ensure that
\r
2059 pxEventList is not empty. */
\r
2060 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
2061 configASSERT( pxUnblockedTCB );
\r
2062 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2064 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2066 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2067 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2071 /* We cannot access the delayed or ready lists, so will hold this
\r
2072 task pending until the scheduler is resumed. */
\r
2073 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2076 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2078 /* Return true if the task removed from the event list has
\r
2079 a higher priority than the calling task. This allows
\r
2080 the calling task to know if it should force a context
\r
2084 /* Mark that a yield is pending in case the user is not using the
\r
2085 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2086 xYieldPending = pdTRUE;
\r
2090 xReturn = pdFALSE;
\r
2095 /*-----------------------------------------------------------*/
\r
2097 signed portBASE_TYPE xTaskRemoveFromUnorderedEventList( xListItem * pxEventListItem, portTickType xItemValue )
\r
2099 tskTCB *pxUnblockedTCB;
\r
2100 portBASE_TYPE xReturn;
\r
2102 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
2103 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
2105 /* Store the new item value in the event list. */
\r
2106 listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue );
\r
2108 /* Remove the TCB from the delayed list, and add it to the ready list. */
\r
2110 pxUnblockedTCB = ( tskTCB * ) listGET_LIST_ITEM_OWNER( pxEventListItem );
\r
2111 configASSERT( pxUnblockedTCB );
\r
2112 ( void ) uxListRemove( pxEventListItem );
\r
2114 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2116 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2117 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2121 /* Cannot access the delayed or ready lists, so will hold this task
\r
2122 pending until the scheduler is resumed. */
\r
2123 vListInsertEnd( &( xPendingReadyList ), pxEventListItem );
\r
2126 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2128 /* Return true if the task removed from the event list has
\r
2129 a higher priority than the calling task. This allows
\r
2130 the calling task to know if it should force a context
\r
2134 /* Mark that a yield is pending in case the user is not using the
\r
2135 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2136 xYieldPending = pdTRUE;
\r
2140 xReturn = pdFALSE;
\r
2145 /*-----------------------------------------------------------*/
\r
2147 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
2149 configASSERT( pxTimeOut );
\r
2150 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2151 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2153 /*-----------------------------------------------------------*/
\r
2155 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
2157 portBASE_TYPE xReturn;
\r
2159 configASSERT( pxTimeOut );
\r
2160 configASSERT( pxTicksToWait );
\r
2162 taskENTER_CRITICAL();
\r
2164 /* Minor optimisation. The tick count cannot change in this block. */
\r
2165 const portTickType xConstTickCount = xTickCount;
\r
2167 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2168 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2169 the maximum block time then the task should block indefinitely, and
\r
2170 therefore never time out. */
\r
2171 if( *pxTicksToWait == portMAX_DELAY )
\r
2173 xReturn = pdFALSE;
\r
2175 else /* We are not blocking indefinitely, perform the checks below. */
\r
2178 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2180 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2181 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2182 It must have wrapped all the way around and gone past us again. This
\r
2183 passed since vTaskSetTimeout() was called. */
\r
2186 else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
2188 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2189 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2190 vTaskSetTimeOutState( pxTimeOut );
\r
2191 xReturn = pdFALSE;
\r
2198 taskEXIT_CRITICAL();
\r
2202 /*-----------------------------------------------------------*/
\r
2204 void vTaskMissedYield( void )
\r
2206 xYieldPending = pdTRUE;
\r
2208 /*-----------------------------------------------------------*/
\r
2210 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2212 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
2214 unsigned portBASE_TYPE uxReturn;
\r
2217 if( xTask != NULL )
\r
2219 pxTCB = ( tskTCB * ) xTask;
\r
2220 uxReturn = pxTCB->uxTaskNumber;
\r
2230 #endif /* configUSE_TRACE_FACILITY */
\r
2231 /*-----------------------------------------------------------*/
\r
2233 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2235 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
2239 if( xTask != NULL )
\r
2241 pxTCB = ( tskTCB * ) xTask;
\r
2242 pxTCB->uxTaskNumber = uxHandle;
\r
2246 #endif /* configUSE_TRACE_FACILITY */
\r
2249 * -----------------------------------------------------------
\r
2251 * ----------------------------------------------------------
\r
2253 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2254 * language extensions. The equivalent prototype for this function is:
\r
2256 * void prvIdleTask( void *pvParameters );
\r
2259 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2261 /* Stop warnings. */
\r
2262 ( void ) pvParameters;
\r
2266 /* See if any tasks have been deleted. */
\r
2267 prvCheckTasksWaitingTermination();
\r
2269 #if ( configUSE_PREEMPTION == 0 )
\r
2271 /* If we are not using preemption we keep forcing a task switch to
\r
2272 see if any other task has become available. If we are using
\r
2273 preemption we don't need to do this as any task becoming available
\r
2274 will automatically get the processor anyway. */
\r
2277 #endif /* configUSE_PREEMPTION */
\r
2279 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2281 /* When using preemption tasks of equal priority will be
\r
2282 timesliced. If a task that is sharing the idle priority is ready
\r
2283 to run then the idle task should yield before the end of the
\r
2286 A critical region is not required here as we are just reading from
\r
2287 the list, and an occasional incorrect value will not matter. If
\r
2288 the ready list at the idle priority contains more than one task
\r
2289 then a task other than the idle task is ready to execute. */
\r
2290 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2295 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2297 #if ( configUSE_IDLE_HOOK == 1 )
\r
2299 extern void vApplicationIdleHook( void );
\r
2301 /* Call the user defined function from within the idle task. This
\r
2302 allows the application designer to add background functionality
\r
2303 without the overhead of a separate task.
\r
2304 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2305 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2306 vApplicationIdleHook();
\r
2308 #endif /* configUSE_IDLE_HOOK */
\r
2310 /* This conditional compilation should use inequality to 0, not equality
\r
2311 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2312 user defined low power mode implementations require
\r
2313 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2314 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2316 portTickType xExpectedIdleTime;
\r
2318 /* It is not desirable to suspend then resume the scheduler on
\r
2319 each iteration of the idle task. Therefore, a preliminary
\r
2320 test of the expected idle time is performed without the
\r
2321 scheduler suspended. The result here is not necessarily
\r
2323 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2325 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2327 vTaskSuspendAll();
\r
2329 /* Now the scheduler is suspended, the expected idle
\r
2330 time can be sampled again, and this time its value can
\r
2332 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2333 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2335 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2337 traceLOW_POWER_IDLE_BEGIN();
\r
2338 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2339 traceLOW_POWER_IDLE_END();
\r
2342 ( void ) xTaskResumeAll();
\r
2345 #endif /* configUSE_TICKLESS_IDLE */
\r
2348 /*-----------------------------------------------------------*/
\r
2350 #if configUSE_TICKLESS_IDLE != 0
\r
2352 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2354 eSleepModeStatus eReturn = eStandardSleep;
\r
2356 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2358 /* A task was made ready while the scheduler was suspended. */
\r
2359 eReturn = eAbortSleep;
\r
2361 else if( xYieldPending != pdFALSE )
\r
2363 /* A yield was pended while the scheduler was suspended. */
\r
2364 eReturn = eAbortSleep;
\r
2368 #if configUSE_TIMERS == 0
\r
2370 /* The idle task exists in addition to the application tasks. */
\r
2371 const unsigned portBASE_TYPE uxNonApplicationTasks = 1;
\r
2373 /* If timers are not being used and all the tasks are in the
\r
2374 suspended list (which might mean they have an infinite block
\r
2375 time rather than actually being suspended) then it is safe to
\r
2376 turn all clocks off and just wait for external interrupts. */
\r
2377 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2379 eReturn = eNoTasksWaitingTimeout;
\r
2382 #endif /* configUSE_TIMERS */
\r
2387 #endif /* configUSE_TICKLESS_IDLE */
\r
2388 /*-----------------------------------------------------------*/
\r
2390 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2392 unsigned portBASE_TYPE x;
\r
2394 /* Store the task name in the TCB. */
\r
2395 for( x = ( unsigned portBASE_TYPE ) 0; x < ( unsigned portBASE_TYPE ) configMAX_TASK_NAME_LEN; x++ )
\r
2397 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2399 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2400 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2401 string is not accessible (extremely unlikely). */
\r
2402 if( pcName[ x ] == 0x00 )
\r
2408 /* Ensure the name string is terminated in the case that the string length
\r
2409 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2410 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = ( signed char ) '\0';
\r
2412 /* This is used as an array index so must ensure it's not too large. First
\r
2413 remove the privilege bit if one is present. */
\r
2414 if( uxPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
\r
2416 uxPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2419 pxTCB->uxPriority = uxPriority;
\r
2420 #if ( configUSE_MUTEXES == 1 )
\r
2422 pxTCB->uxBasePriority = uxPriority;
\r
2424 #endif /* configUSE_MUTEXES */
\r
2426 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2427 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2429 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2430 back to the containing TCB from a generic item in a list. */
\r
2431 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2433 /* Event lists are always in priority order. */
\r
2434 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2435 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2437 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2439 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2441 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2443 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2445 pxTCB->pxTaskTag = NULL;
\r
2447 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2449 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2451 pxTCB->ulRunTimeCounter = 0UL;
\r
2453 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2455 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2457 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2459 #else /* portUSING_MPU_WRAPPERS */
\r
2461 ( void ) xRegions;
\r
2462 ( void ) usStackDepth;
\r
2464 #endif /* portUSING_MPU_WRAPPERS */
\r
2466 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2468 /* Initialise this task's Newlib reent structure. */
\r
2469 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2471 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2473 /*-----------------------------------------------------------*/
\r
2475 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2477 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2481 /* If null is passed in here then we are deleting ourselves. */
\r
2482 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2484 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2487 #endif /* portUSING_MPU_WRAPPERS */
\r
2488 /*-----------------------------------------------------------*/
\r
2490 static void prvInitialiseTaskLists( void )
\r
2492 unsigned portBASE_TYPE uxPriority;
\r
2494 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < ( unsigned portBASE_TYPE ) configMAX_PRIORITIES; uxPriority++ )
\r
2496 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
2499 vListInitialise( &xDelayedTaskList1 );
\r
2500 vListInitialise( &xDelayedTaskList2 );
\r
2501 vListInitialise( &xPendingReadyList );
\r
2503 #if ( INCLUDE_vTaskDelete == 1 )
\r
2505 vListInitialise( &xTasksWaitingTermination );
\r
2507 #endif /* INCLUDE_vTaskDelete */
\r
2509 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2511 vListInitialise( &xSuspendedTaskList );
\r
2513 #endif /* INCLUDE_vTaskSuspend */
\r
2515 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2517 pxDelayedTaskList = &xDelayedTaskList1;
\r
2518 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2520 /*-----------------------------------------------------------*/
\r
2522 static void prvCheckTasksWaitingTermination( void )
\r
2524 #if ( INCLUDE_vTaskDelete == 1 )
\r
2526 portBASE_TYPE xListIsEmpty;
\r
2528 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2529 too often in the idle task. */
\r
2530 while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2532 vTaskSuspendAll();
\r
2533 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2534 ( void ) xTaskResumeAll();
\r
2536 if( xListIsEmpty == pdFALSE )
\r
2540 taskENTER_CRITICAL();
\r
2542 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
2543 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2544 --uxCurrentNumberOfTasks;
\r
2547 taskEXIT_CRITICAL();
\r
2549 prvDeleteTCB( pxTCB );
\r
2553 #endif /* vTaskDelete */
\r
2555 /*-----------------------------------------------------------*/
\r
2557 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2559 /* The list item will be inserted in wake time order. */
\r
2560 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2562 if( xTimeToWake < xTickCount )
\r
2564 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2565 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2569 /* The wake time has not overflowed, so we can use the current block list. */
\r
2570 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2572 /* If the task entering the blocked state was placed at the head of the
\r
2573 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2575 if( xTimeToWake < xNextTaskUnblockTime )
\r
2577 xNextTaskUnblockTime = xTimeToWake;
\r
2581 /*-----------------------------------------------------------*/
\r
2583 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2587 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2588 the implementation of the port malloc function. */
\r
2589 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2591 if( pxNewTCB != NULL )
\r
2593 /* Allocate space for the stack used by the task being created.
\r
2594 The base of the stack memory stored in the TCB so the task can
\r
2595 be deleted later if required. */
\r
2596 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2598 if( pxNewTCB->pxStack == NULL )
\r
2600 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2601 vPortFree( pxNewTCB );
\r
2606 /* Just to help debugging. */
\r
2607 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2613 /*-----------------------------------------------------------*/
\r
2615 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2617 static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState )
\r
2619 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2620 unsigned portBASE_TYPE uxTask = 0;
\r
2622 if( listCURRENT_LIST_LENGTH( pxList ) > ( unsigned portBASE_TYPE ) 0 )
\r
2624 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2626 /* Populate an xTaskStatusType structure within the
\r
2627 pxTaskStatusArray array for each task that is referenced from
\r
2628 pxList. See the definition of xTaskStatusType in task.h for the
\r
2629 meaning of each xTaskStatusType structure member. */
\r
2632 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2634 pxTaskStatusArray[ uxTask ].xHandle = ( xTaskHandle ) pxNextTCB;
\r
2635 pxTaskStatusArray[ uxTask ].pcTaskName = ( const signed char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
2636 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
2637 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
2638 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
2640 #if ( configUSE_MUTEXES == 1 )
\r
2642 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
2646 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
2650 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2652 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
2656 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
2660 #if ( portSTACK_GROWTH > 0 )
\r
2662 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2666 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2672 } while( pxNextTCB != pxFirstTCB );
\r
2678 #endif /* configUSE_TRACE_FACILITY */
\r
2679 /*-----------------------------------------------------------*/
\r
2681 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2683 static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2685 unsigned short usCount = 0U;
\r
2687 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2689 pucStackByte -= portSTACK_GROWTH;
\r
2693 usCount /= sizeof( portSTACK_TYPE );
\r
2698 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
2699 /*-----------------------------------------------------------*/
\r
2701 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2703 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2706 unsigned char *pcEndOfStack;
\r
2707 unsigned portBASE_TYPE uxReturn;
\r
2709 pxTCB = prvGetTCBFromHandle( xTask );
\r
2711 #if portSTACK_GROWTH < 0
\r
2713 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2717 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2721 uxReturn = ( unsigned portBASE_TYPE ) prvTaskCheckFreeStackSpace( pcEndOfStack );
\r
2726 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
2727 /*-----------------------------------------------------------*/
\r
2729 #if ( INCLUDE_vTaskDelete == 1 )
\r
2731 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2733 /* This call is required specifically for the TriCore port. It must be
\r
2734 above the vPortFree() calls. The call is also used by ports/demos that
\r
2735 want to allocate and clean RAM statically. */
\r
2736 portCLEAN_UP_TCB( pxTCB );
\r
2738 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2739 the task to free any memory allocated at the application level. */
\r
2740 vPortFreeAligned( pxTCB->pxStack );
\r
2741 vPortFree( pxTCB );
\r
2744 #endif /* INCLUDE_vTaskDelete */
\r
2745 /*-----------------------------------------------------------*/
\r
2747 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2749 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2751 xTaskHandle xReturn;
\r
2753 /* A critical section is not required as this is not called from
\r
2754 an interrupt and the current TCB will always be the same for any
\r
2755 individual execution thread. */
\r
2756 xReturn = pxCurrentTCB;
\r
2761 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
2762 /*-----------------------------------------------------------*/
\r
2764 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2766 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2768 portBASE_TYPE xReturn;
\r
2770 if( xSchedulerRunning == pdFALSE )
\r
2772 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2776 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2778 xReturn = taskSCHEDULER_RUNNING;
\r
2782 xReturn = taskSCHEDULER_SUSPENDED;
\r
2789 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
2790 /*-----------------------------------------------------------*/
\r
2792 #if ( configUSE_MUTEXES == 1 )
\r
2794 void vTaskPriorityInherit( xTaskHandle const pxMutexHolder )
\r
2796 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2798 /* If the mutex was given back by an interrupt while the queue was
\r
2799 locked then the mutex holder might now be NULL. */
\r
2800 if( pxMutexHolder != NULL )
\r
2802 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2804 /* Adjust the mutex holder state to account for its new priority. */
\r
2805 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2807 /* If the task being modified is in the ready state it will need to
\r
2808 be moved into a new list. */
\r
2809 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2811 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
2813 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2816 /* Inherit the priority before being moved into the new list. */
\r
2817 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2818 prvAddTaskToReadyList( pxTCB );
\r
2822 /* Just inherit the priority. */
\r
2823 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2826 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2831 #endif /* configUSE_MUTEXES */
\r
2832 /*-----------------------------------------------------------*/
\r
2834 #if ( configUSE_MUTEXES == 1 )
\r
2836 void vTaskPriorityDisinherit( xTaskHandle const pxMutexHolder )
\r
2838 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2840 if( pxMutexHolder != NULL )
\r
2842 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2844 /* We must be the running task to be able to give the mutex back.
\r
2845 Remove ourselves from the ready list we currently appear in. */
\r
2846 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
2848 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2851 /* Disinherit the priority before adding the task into the new
\r
2853 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2854 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2855 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2856 prvAddTaskToReadyList( pxTCB );
\r
2861 #endif /* configUSE_MUTEXES */
\r
2862 /*-----------------------------------------------------------*/
\r
2864 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2866 void vTaskEnterCritical( void )
\r
2868 portDISABLE_INTERRUPTS();
\r
2870 if( xSchedulerRunning != pdFALSE )
\r
2872 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2876 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2877 /*-----------------------------------------------------------*/
\r
2879 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2881 void vTaskExitCritical( void )
\r
2883 if( xSchedulerRunning != pdFALSE )
\r
2885 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2887 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2889 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2891 portENABLE_INTERRUPTS();
\r
2897 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2898 /*-----------------------------------------------------------*/
\r
2900 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
2902 void vTaskList( signed char *pcWriteBuffer )
\r
2904 xTaskStatusType *pxTaskStatusArray;
\r
2905 volatile unsigned portBASE_TYPE uxArraySize, x;
\r
2911 * This function is provided for convenience only, and is used by many
\r
2912 * of the demo applications. Do not consider it to be part of the
\r
2915 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
2916 * uxTaskGetSystemState() output into a human readable table that
\r
2917 * displays task names, states and stack usage.
\r
2919 * vTaskList() has a dependency on the sprintf() C library function that
\r
2920 * might bloat the code size, use a lot of stack, and provide different
\r
2921 * results on different platforms. An alternative, tiny, third party,
\r
2922 * and limited functionality implementation of sprintf() is provided in
\r
2923 * many of the FreeRTOS/Demo sub-directories in a file called
\r
2924 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
2925 * snprintf() implementation!).
\r
2927 * It is recommended that production systems call uxTaskGetSystemState()
\r
2928 * directly to get access to raw stats data, rather than indirectly
\r
2929 * through a call to vTaskList().
\r
2933 /* Make sure the write buffer does not contain a string. */
\r
2934 *pcWriteBuffer = 0x00;
\r
2936 /* Take a snapshot of the number of tasks in case it changes while this
\r
2937 function is executing. */
\r
2938 uxArraySize = uxCurrentNumberOfTasks;
\r
2940 /* Allocate an array index for each task. */
\r
2941 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
\r
2943 if( pxTaskStatusArray != NULL )
\r
2945 /* Generate the (binary) data. */
\r
2946 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
2948 /* Create a human readable table from the binary data. */
\r
2949 for( x = 0; x < uxArraySize; x++ )
\r
2951 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
2953 case eReady: cStatus = tskREADY_CHAR;
\r
2956 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
2959 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
2962 case eDeleted: cStatus = tskDELETED_CHAR;
\r
2965 default: /* Should not get here, but it is included
\r
2966 to prevent static checking errors. */
\r
2971 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxTaskStatusArray[ x ].pcTaskName, cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
2972 pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
\r
2975 /* Free the array again. */
\r
2976 vPortFree( pxTaskStatusArray );
\r
2980 #endif /* configUSE_TRACE_FACILITY */
\r
2981 /*----------------------------------------------------------*/
\r
2983 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
2985 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
2987 xTaskStatusType *pxTaskStatusArray;
\r
2988 volatile unsigned portBASE_TYPE uxArraySize, x;
\r
2989 unsigned long ulTotalTime, ulStatsAsPercentage;
\r
2994 * This function is provided for convenience only, and is used by many
\r
2995 * of the demo applications. Do not consider it to be part of the
\r
2998 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
2999 * of the uxTaskGetSystemState() output into a human readable table that
\r
3000 * displays the amount of time each task has spent in the Running state
\r
3001 * in both absolute and percentage terms.
\r
3003 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
3004 * function that might bloat the code size, use a lot of stack, and
\r
3005 * provide different results on different platforms. An alternative,
\r
3006 * tiny, third party, and limited functionality implementation of
\r
3007 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
3008 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
3009 * a full snprintf() implementation!).
\r
3011 * It is recommended that production systems call uxTaskGetSystemState()
\r
3012 * directly to get access to raw stats data, rather than indirectly
\r
3013 * through a call to vTaskGetRunTimeStats().
\r
3016 /* Make sure the write buffer does not contain a string. */
\r
3017 *pcWriteBuffer = 0x00;
\r
3019 /* Take a snapshot of the number of tasks in case it changes while this
\r
3020 function is executing. */
\r
3021 uxArraySize = uxCurrentNumberOfTasks;
\r
3023 /* Allocate an array index for each task. */
\r
3024 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
\r
3026 if( pxTaskStatusArray != NULL )
\r
3028 /* Generate the (binary) data. */
\r
3029 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
3031 /* For percentage calculations. */
\r
3032 ulTotalTime /= 100UL;
\r
3034 /* Avoid divide by zero errors. */
\r
3035 if( ulTotalTime > 0 )
\r
3037 /* Create a human readable table from the binary data. */
\r
3038 for( x = 0; x < uxArraySize; x++ )
\r
3040 /* What percentage of the total run time has the task used?
\r
3041 This will always be rounded down to the nearest integer.
\r
3042 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
3043 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
3045 if( ulStatsAsPercentage > 0UL )
\r
3047 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3049 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
3053 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3054 printf() library can be used. */
\r
3055 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
3061 /* If the percentage is zero here then the task has
\r
3062 consumed less than 1% of the total run time. */
\r
3063 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
3065 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3069 /* sizeof( int ) == sizeof( long ) so a smaller
\r
3070 printf() library can be used. */
\r
3071 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
3076 pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
\r
3080 /* Free the array again. */
\r
3081 vPortFree( pxTaskStatusArray );
\r
3085 #endif /* configGENERATE_RUN_TIME_STATS */
\r
3086 /*-----------------------------------------------------------*/
\r
3088 portTickType uxTaskResetEventItemValue( void )
\r
3090 portTickType uxReturn;
\r
3092 uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
\r
3094 /* Reset the event list item to its normal value - so it can be used with
\r
3095 queues and semaphores. */
\r
3096 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
3100 /*-----------------------------------------------------------*/
\r
projects / freertos / blob