2 FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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32 >>>NOTE<<< The modification to the GPL is included to allow you to
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33 distribute a combined work that includes FreeRTOS without being obliged to
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34 provide the source code for proprietary components outside of the FreeRTOS
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35 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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36 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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37 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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38 more details. You should have received a copy of the GNU General Public
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39 License and the FreeRTOS license exception along with FreeRTOS; if not it
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40 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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41 by writing to Richard Barry, contact details for whom are available on the
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46 ***************************************************************************
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48 * Having a problem? Start by reading the FAQ "My application does *
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49 * not run, what could be wrong?" *
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51 * http://www.FreeRTOS.org/FAQHelp.html *
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53 ***************************************************************************
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56 http://www.FreeRTOS.org - Documentation, training, latest versions, license
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57 and contact details.
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59 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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60 including FreeRTOS+Trace - an indispensable productivity tool.
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62 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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63 the code with commercial support, indemnification, and middleware, under
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64 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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65 provide a safety engineered and independently SIL3 certified version under
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66 the SafeRTOS brand: http://www.SafeRTOS.com.
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69 /* Standard includes. */
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74 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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75 all the API functions to use the MPU wrappers. That should only be done when
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76 task.h is included from an application file. */
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77 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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79 /* FreeRTOS includes. */
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80 #include "FreeRTOS.h"
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83 #include "StackMacros.h"
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85 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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87 /* Sanity check the configuration. */
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88 #if configUSE_TICKLESS_IDLE != 0
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89 #if INCLUDE_vTaskSuspend != 1
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90 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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91 #endif /* INCLUDE_vTaskSuspend */
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92 #endif /* configUSE_TICKLESS_IDLE */
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95 * Defines the size, in words, of the stack allocated to the idle task.
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97 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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100 * Task control block. A task control block (TCB) is allocated for each task,
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101 * and stores task state information, including a pointer to the task's context
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102 * (the task's run time environment, including register values)
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104 typedef struct tskTaskControlBlock
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106 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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108 #if ( portUSING_MPU_WRAPPERS == 1 )
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109 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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112 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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113 xListItem xEventListItem; /*< Used to reference a task from an event list. */
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114 unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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115 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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116 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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118 #if ( portSTACK_GROWTH > 0 )
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119 portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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122 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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123 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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126 #if ( configUSE_TRACE_FACILITY == 1 )
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127 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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128 unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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131 #if ( configUSE_MUTEXES == 1 )
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132 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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135 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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136 pdTASK_HOOK_CODE pxTaskTag;
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139 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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140 unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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147 * Some kernel aware debuggers require the data the debugger needs access to to
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148 * be global, rather than file scope.
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150 #ifdef portREMOVE_STATIC_QUALIFIER
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155 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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157 /* Lists for ready and blocked tasks. --------------------*/
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158 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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159 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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160 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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161 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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162 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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163 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */
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165 #if ( INCLUDE_vTaskDelete == 1 )
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167 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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168 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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172 #if ( INCLUDE_vTaskSuspend == 1 )
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174 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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178 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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180 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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184 /* File private variables. --------------------------------*/
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185 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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186 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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187 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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188 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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189 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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190 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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191 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0U;
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192 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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193 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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194 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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195 PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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197 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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199 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
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200 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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201 PRIVILEGED_DATA static unsigned long ulTotalRunTime; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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202 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTimeDiv100 ) PRIVILEGED_FUNCTION;
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206 /* Debugging and trace facilities private variables and macros. ------------*/
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209 * The value used to fill the stack of a task when the task is created. This
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210 * is used purely for checking the high water mark for tasks.
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212 #define tskSTACK_FILL_BYTE ( 0xa5U )
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215 * Macros used by vListTask to indicate which state a task is in.
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217 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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218 #define tskREADY_CHAR ( ( signed char ) 'R' )
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219 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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220 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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222 /*-----------------------------------------------------------*/
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224 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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226 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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227 performed in a generic way that is not optimised to any particular
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228 microcontroller architecture. */
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230 /* uxTopReadyPriority holds the priority of the highest priority ready
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232 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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234 if( ( uxPriority ) > uxTopReadyPriority ) \
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236 uxTopReadyPriority = ( uxPriority ); \
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238 } /* taskRECORD_READY_PRIORITY */
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240 /*-----------------------------------------------------------*/
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242 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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244 /* Find the highest priority queue that contains ready tasks. */ \
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245 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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247 configASSERT( uxTopReadyPriority ); \
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248 --uxTopReadyPriority; \
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251 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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252 the same priority get an equal share of the processor time. */ \
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253 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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254 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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256 /*-----------------------------------------------------------*/
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258 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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259 they are only required when a port optimised method of task selection is
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261 #define taskRESET_READY_PRIORITY( uxPriority )
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262 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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264 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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266 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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267 performed in a way that is tailored to the particular microcontroller
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268 architecture being used. */
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270 /* A port optimised version is provided. Call the port defined macros. */
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271 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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273 /*-----------------------------------------------------------*/
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275 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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277 unsigned portBASE_TYPE uxTopPriority; \
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279 /* Find the highest priority queue that contains ready tasks. */ \
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280 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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281 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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282 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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283 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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285 /*-----------------------------------------------------------*/
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287 /* A port optimised version is provided, call it only if the TCB being reset
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288 is being referenced from a ready list. If it is referenced from a delayed
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289 or suspended list then it won't be in a ready list. */
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290 #define taskRESET_READY_PRIORITY( uxPriority ) \
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292 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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294 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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298 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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301 * Place the task represented by pxTCB into the appropriate ready queue for
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302 * the task. It is inserted at the end of the list. One quirk of this is
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303 * that if the task being inserted is at the same priority as the currently
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304 * executing task, then it will only be rescheduled after the currently
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305 * executing task has been rescheduled.
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307 #define prvAddTaskToReadyQueue( pxTCB ) \
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308 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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309 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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310 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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311 /*-----------------------------------------------------------*/
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314 * Macro that looks at the list of tasks that are currently delayed to see if
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315 * any require waking.
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317 * Tasks are stored in the queue in the order of their wake time - meaning
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318 * once one tasks has been found whose timer has not expired we need not look
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319 * any further down the list.
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321 #define prvCheckDelayedTasks() \
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323 portTickType xItemValue; \
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325 /* Is the tick count greater than or equal to the wake time of the first \
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326 task referenced from the delayed tasks list? */ \
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327 if( xTickCount >= xNextTaskUnblockTime ) \
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331 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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333 /* The delayed list is empty. Set xNextTaskUnblockTime to the \
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334 maximum possible value so it is extremely unlikely that the \
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335 if( xTickCount >= xNextTaskUnblockTime ) test will pass next \
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337 xNextTaskUnblockTime = portMAX_DELAY; \
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342 /* The delayed list is not empty, get the value of the item at \
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343 the head of the delayed list. This is the time at which the \
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344 task at the head of the delayed list should be removed from \
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345 the Blocked state. */ \
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346 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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347 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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349 if( xTickCount < xItemValue ) \
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351 /* It is not time to unblock this item yet, but the item \
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352 value is the time at which the task at the head of the \
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353 blocked list should be removed from the Blocked state - \
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354 so record the item value in xNextTaskUnblockTime. */ \
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355 xNextTaskUnblockTime = xItemValue; \
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359 /* It is time to remove the item from the Blocked state. */ \
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360 uxListRemove( &( pxTCB->xGenericListItem ) ); \
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362 /* Is the task waiting on an event also? */ \
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363 if( pxTCB->xEventListItem.pvContainer != NULL ) \
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365 uxListRemove( &( pxTCB->xEventListItem ) ); \
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367 prvAddTaskToReadyQueue( pxTCB ); \
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372 /*-----------------------------------------------------------*/
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375 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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376 * where NULL is used to indicate that the handle of the currently executing
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377 * task should be used in place of the parameter. This macro simply checks to
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378 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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380 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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382 /* Callback function prototypes. --------------------------*/
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383 extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
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384 extern void vApplicationTickHook( void );
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386 /* File private functions. --------------------------------*/
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389 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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390 * into the TCB structure.
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392 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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395 * Utility to ready all the lists used by the scheduler. This is called
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396 * automatically upon the creation of the first task.
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398 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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401 * The idle task, which as all tasks is implemented as a never ending loop.
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402 * The idle task is automatically created and added to the ready lists upon
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403 * creation of the first user task.
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405 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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406 * language extensions. The equivalent prototype for this function is:
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408 * void prvIdleTask( void *pvParameters );
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411 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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414 * Utility to free all memory allocated by the scheduler to hold a TCB,
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415 * including the stack pointed to by the TCB.
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417 * This does not free memory allocated by the task itself (i.e. memory
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418 * allocated by calls to pvPortMalloc from within the tasks application code).
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420 #if ( INCLUDE_vTaskDelete == 1 )
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422 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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427 * Used only by the idle task. This checks to see if anything has been placed
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428 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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429 * and its TCB deleted.
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431 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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434 * The currently executing task is entering the Blocked state. Add the task to
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435 * either the current or the overflow delayed task list.
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437 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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440 * Allocates memory from the heap for a TCB and associated stack. Checks the
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441 * allocation was successful.
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443 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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446 * Called from vTaskList. vListTasks details all the tasks currently under
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447 * control of the scheduler. The tasks may be in one of a number of lists.
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448 * prvListTaskWithinSingleList accepts a list and details the tasks from
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449 * within just that list.
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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 void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) 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 usTaskCheckFreeStackSpace( 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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488 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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490 signed portBASE_TYPE xReturn;
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493 configASSERT( pxTaskCode );
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494 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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496 /* Allocate the memory required by the TCB and stack for the new task,
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497 checking that the allocation was successful. */
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498 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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500 if( pxNewTCB != NULL )
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502 portSTACK_TYPE *pxTopOfStack;
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504 #if( portUSING_MPU_WRAPPERS == 1 )
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505 /* Should the task be created in privileged mode? */
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506 portBASE_TYPE xRunPrivileged;
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507 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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509 xRunPrivileged = pdTRUE;
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513 xRunPrivileged = pdFALSE;
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515 uxPriority &= ~portPRIVILEGE_BIT;
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516 #endif /* portUSING_MPU_WRAPPERS == 1 */
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518 /* Calculate the top of stack address. This depends on whether the
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519 stack grows from high memory to low (as per the 80x86) or visa versa.
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520 portSTACK_GROWTH is used to make the result positive or negative as
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521 required by the port. */
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522 #if( portSTACK_GROWTH < 0 )
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524 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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525 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
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527 /* Check the alignment of the calculated top of stack is correct. */
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528 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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530 #else /* portSTACK_GROWTH */
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532 pxTopOfStack = pxNewTCB->pxStack;
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534 /* Check the alignment of the stack buffer is correct. */
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535 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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537 /* If we want to use stack checking on architectures that use
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538 a positive stack growth direction then we also need to store the
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539 other extreme of the stack space. */
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540 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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542 #endif /* portSTACK_GROWTH */
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544 /* Setup the newly allocated TCB with the initial state of the task. */
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545 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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547 /* Initialize the TCB stack to look as if the task was already running,
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548 but had been interrupted by the scheduler. The return address is set
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549 to the start of the task function. Once the stack has been initialised
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550 the top of stack variable is updated. */
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551 #if( portUSING_MPU_WRAPPERS == 1 )
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553 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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555 #else /* portUSING_MPU_WRAPPERS */
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557 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
559 #endif /* portUSING_MPU_WRAPPERS */
\r
561 /* Check the alignment of the initialised stack. */
\r
562 portALIGNMENT_ASSERT_pxCurrentTCB( ( ( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
564 if( ( void * ) pxCreatedTask != NULL )
\r
566 /* Pass the TCB out - in an anonymous way. The calling function/
\r
567 task can use this as a handle to delete the task later if
\r
569 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
\r
572 /* We are going to manipulate the task queues to add this task to a
\r
573 ready list, so must make sure no interrupts occur. */
\r
574 taskENTER_CRITICAL();
\r
576 uxCurrentNumberOfTasks++;
\r
577 if( pxCurrentTCB == NULL )
\r
579 /* There are no other tasks, or all the other tasks are in
\r
580 the suspended state - make this the current task. */
\r
581 pxCurrentTCB = pxNewTCB;
\r
583 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
585 /* This is the first task to be created so do the preliminary
\r
586 initialisation required. We will not recover if this call
\r
587 fails, but we will report the failure. */
\r
588 prvInitialiseTaskLists();
\r
593 /* If the scheduler is not already running, make this task the
\r
594 current task if it is the highest priority task to be created
\r
596 if( xSchedulerRunning == pdFALSE )
\r
598 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
600 pxCurrentTCB = pxNewTCB;
\r
605 /* Remember the top priority to make context switching faster. Use
\r
606 the priority in pxNewTCB as this has been capped to a valid value. */
\r
607 if( pxNewTCB->uxPriority > uxTopUsedPriority )
\r
609 uxTopUsedPriority = pxNewTCB->uxPriority;
\r
614 #if ( configUSE_TRACE_FACILITY == 1 )
\r
616 /* Add a counter into the TCB for tracing only. */
\r
617 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
619 #endif /* configUSE_TRACE_FACILITY */
\r
620 traceTASK_CREATE( pxNewTCB );
\r
622 prvAddTaskToReadyQueue( pxNewTCB );
\r
625 portSETUP_TCB( pxNewTCB );
\r
627 taskEXIT_CRITICAL();
\r
631 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
632 traceTASK_CREATE_FAILED();
\r
635 if( xReturn == pdPASS )
\r
637 if( xSchedulerRunning != pdFALSE )
\r
639 /* If the created task is of a higher priority than the current task
\r
640 then it should run now. */
\r
641 if( pxCurrentTCB->uxPriority < uxPriority )
\r
643 portYIELD_WITHIN_API();
\r
650 /*-----------------------------------------------------------*/
\r
652 #if ( INCLUDE_vTaskDelete == 1 )
\r
654 void vTaskDelete( xTaskHandle xTaskToDelete )
\r
658 taskENTER_CRITICAL();
\r
660 /* Ensure a yield is performed if the current task is being
\r
662 if( xTaskToDelete == pxCurrentTCB )
\r
664 xTaskToDelete = NULL;
\r
667 /* If null is passed in here then we are deleting ourselves. */
\r
668 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
670 /* Remove task from the ready list and place in the termination list.
\r
671 This will stop the task from be scheduled. The idle task will check
\r
672 the termination list and free up any memory allocated by the
\r
673 scheduler for the TCB and stack. */
\r
674 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
676 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
679 /* Is the task waiting on an event also? */
\r
680 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
682 uxListRemove( &( pxTCB->xEventListItem ) );
\r
685 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
687 /* Increment the ucTasksDeleted variable so the idle task knows
\r
688 there is a task that has been deleted and that it should therefore
\r
689 check the xTasksWaitingTermination list. */
\r
692 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
693 can detect that the task lists need re-generating. */
\r
696 traceTASK_DELETE( pxTCB );
\r
698 taskEXIT_CRITICAL();
\r
700 /* Force a reschedule if we have just deleted the current task. */
\r
701 if( xSchedulerRunning != pdFALSE )
\r
703 if( ( void * ) xTaskToDelete == NULL )
\r
705 portYIELD_WITHIN_API();
\r
710 #endif /* INCLUDE_vTaskDelete */
\r
711 /*-----------------------------------------------------------*/
\r
713 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
715 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
717 portTickType xTimeToWake;
\r
718 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
720 configASSERT( pxPreviousWakeTime );
\r
721 configASSERT( ( xTimeIncrement > 0U ) );
\r
725 /* Generate the tick time at which the task wants to wake. */
\r
726 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
728 if( xTickCount < *pxPreviousWakeTime )
\r
730 /* The tick count has overflowed since this function was
\r
731 lasted called. In this case the only time we should ever
\r
732 actually delay is if the wake time has also overflowed,
\r
733 and the wake time is greater than the tick time. When this
\r
734 is the case it is as if neither time had overflowed. */
\r
735 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
737 xShouldDelay = pdTRUE;
\r
742 /* The tick time has not overflowed. In this case we will
\r
743 delay if either the wake time has overflowed, and/or the
\r
744 tick time is less than the wake time. */
\r
745 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
747 xShouldDelay = pdTRUE;
\r
751 /* Update the wake time ready for the next call. */
\r
752 *pxPreviousWakeTime = xTimeToWake;
\r
754 if( xShouldDelay != pdFALSE )
\r
756 traceTASK_DELAY_UNTIL();
\r
758 /* We must remove ourselves from the ready list before adding
\r
759 ourselves to the blocked list as the same list item is used for
\r
761 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
763 /* The current task must be in a ready list, so there is
\r
764 no need to check, and the port reset macro can be called
\r
766 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
769 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
772 xAlreadyYielded = xTaskResumeAll();
\r
774 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
775 have put ourselves to sleep. */
\r
776 if( xAlreadyYielded == pdFALSE )
\r
778 portYIELD_WITHIN_API();
\r
782 #endif /* INCLUDE_vTaskDelayUntil */
\r
783 /*-----------------------------------------------------------*/
\r
785 #if ( INCLUDE_vTaskDelay == 1 )
\r
787 void vTaskDelay( portTickType xTicksToDelay )
\r
789 portTickType xTimeToWake;
\r
790 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
792 /* A delay time of zero just forces a reschedule. */
\r
793 if( xTicksToDelay > ( portTickType ) 0U )
\r
799 /* A task that is removed from the event list while the
\r
800 scheduler is suspended will not get placed in the ready
\r
801 list or removed from the blocked list until the scheduler
\r
804 This task cannot be in an event list as it is the currently
\r
807 /* Calculate the time to wake - this may overflow but this is
\r
809 xTimeToWake = xTickCount + xTicksToDelay;
\r
811 /* We must remove ourselves from the ready list before adding
\r
812 ourselves to the blocked list as the same list item is used for
\r
814 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
816 /* The current task must be in a ready list, so there is
\r
817 no need to check, and the port reset macro can be called
\r
819 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
821 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
823 xAlreadyYielded = xTaskResumeAll();
\r
826 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
827 have put ourselves to sleep. */
\r
828 if( xAlreadyYielded == pdFALSE )
\r
830 portYIELD_WITHIN_API();
\r
834 #endif /* INCLUDE_vTaskDelay */
\r
835 /*-----------------------------------------------------------*/
\r
837 #if ( INCLUDE_eTaskGetState == 1 )
\r
839 eTaskState eTaskGetState( xTaskHandle xTask )
\r
841 eTaskState eReturn;
\r
842 xList *pxStateList;
\r
845 pxTCB = ( tskTCB * ) xTask;
\r
847 if( pxTCB == pxCurrentTCB )
\r
849 /* The task calling this function is querying its own state. */
\r
850 eReturn = eRunning;
\r
854 taskENTER_CRITICAL();
\r
856 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
858 taskEXIT_CRITICAL();
\r
860 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
862 /* The task being queried is referenced from one of the Blocked
\r
864 eReturn = eBlocked;
\r
867 #if ( INCLUDE_vTaskSuspend == 1 )
\r
868 else if( pxStateList == &xSuspendedTaskList )
\r
870 /* The task being queried is referenced from the suspended
\r
872 eReturn = eSuspended;
\r
876 #if ( INCLUDE_vTaskDelete == 1 )
\r
877 else if( pxStateList == &xTasksWaitingTermination )
\r
879 /* The task being queried is referenced from the deleted
\r
881 eReturn = eDeleted;
\r
887 /* If the task is not in any other state, it must be in the
\r
888 Ready (including pending ready) state. */
\r
896 #endif /* INCLUDE_eTaskGetState */
\r
897 /*-----------------------------------------------------------*/
\r
899 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
901 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
\r
904 unsigned portBASE_TYPE uxReturn;
\r
906 taskENTER_CRITICAL();
\r
908 /* If null is passed in here then we are changing the
\r
909 priority of the calling function. */
\r
910 pxTCB = prvGetTCBFromHandle( xTask );
\r
911 uxReturn = pxTCB->uxPriority;
\r
913 taskEXIT_CRITICAL();
\r
918 #endif /* INCLUDE_uxTaskPriorityGet */
\r
919 /*-----------------------------------------------------------*/
\r
921 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
923 void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
\r
926 unsigned portBASE_TYPE uxCurrentPriority, uxPriorityUsedOnEntry;
\r
927 portBASE_TYPE xYieldRequired = pdFALSE;
\r
929 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
931 /* Ensure the new priority is valid. */
\r
932 if( uxNewPriority >= configMAX_PRIORITIES )
\r
934 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
937 taskENTER_CRITICAL();
\r
939 if( xTask == pxCurrentTCB )
\r
944 /* If null is passed in here then we are changing the
\r
945 priority of the calling function. */
\r
946 pxTCB = prvGetTCBFromHandle( xTask );
\r
948 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
950 #if ( configUSE_MUTEXES == 1 )
\r
952 uxCurrentPriority = pxTCB->uxBasePriority;
\r
956 uxCurrentPriority = pxTCB->uxPriority;
\r
960 if( uxCurrentPriority != uxNewPriority )
\r
962 /* The priority change may have readied a task of higher
\r
963 priority than the calling task. */
\r
964 if( uxNewPriority > uxCurrentPriority )
\r
966 if( xTask != NULL )
\r
968 /* The priority of another task is being raised. If we
\r
969 were raising the priority of the currently running task
\r
970 there would be no need to switch as it must have already
\r
971 been the highest priority task. */
\r
972 xYieldRequired = pdTRUE;
\r
975 else if( xTask == NULL )
\r
977 /* Setting our own priority down means there may now be another
\r
978 task of higher priority that is ready to execute. */
\r
979 xYieldRequired = pdTRUE;
\r
982 /* Remember the ready list the task might be referenced from
\r
983 before its uxPriority member is changed so the
\r
984 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
985 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
987 #if ( configUSE_MUTEXES == 1 )
\r
989 /* Only change the priority being used if the task is not
\r
990 currently using an inherited priority. */
\r
991 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
993 pxTCB->uxPriority = uxNewPriority;
\r
996 /* The base priority gets set whatever. */
\r
997 pxTCB->uxBasePriority = uxNewPriority;
\r
1001 pxTCB->uxPriority = uxNewPriority;
\r
1005 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
1007 /* If the task is in the blocked or suspended list we need do
\r
1008 nothing more than change it's priority variable. However, if
\r
1009 the task is in a ready list it needs to be removed and placed
\r
1010 in the queue appropriate to its new priority. */
\r
1011 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
1013 /* The task is currently in its ready list - remove before adding
\r
1014 it to it's new ready list. As we are in a critical section we
\r
1015 can do this even if the scheduler is suspended. */
\r
1016 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1018 taskRESET_READY_PRIORITY( uxPriorityUsedOnEntry );
\r
1020 prvAddTaskToReadyQueue( pxTCB );
\r
1023 if( xYieldRequired == pdTRUE )
\r
1025 portYIELD_WITHIN_API();
\r
1029 taskEXIT_CRITICAL();
\r
1031 /* Remove compiler warning about unused parameter when the port
\r
1032 optimised task selection is not being used. */
\r
1033 ( void ) uxPriorityUsedOnEntry;
\r
1036 #endif /* INCLUDE_vTaskPrioritySet */
\r
1037 /*-----------------------------------------------------------*/
\r
1039 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1041 void vTaskSuspend( xTaskHandle xTaskToSuspend )
\r
1045 taskENTER_CRITICAL();
\r
1047 /* Ensure a yield is performed if the current task is being
\r
1049 if( xTaskToSuspend == pxCurrentTCB )
\r
1051 xTaskToSuspend = NULL;
\r
1054 /* If null is passed in here then we are suspending ourselves. */
\r
1055 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1057 traceTASK_SUSPEND( pxTCB );
\r
1059 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
1060 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1062 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1065 /* Is the task waiting on an event also? */
\r
1066 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
1068 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1071 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1073 taskEXIT_CRITICAL();
\r
1075 if( ( void * ) xTaskToSuspend == NULL )
\r
1077 if( xSchedulerRunning != pdFALSE )
\r
1079 /* We have just suspended the current task. */
\r
1080 portYIELD_WITHIN_API();
\r
1084 /* The scheduler is not running, but the task that was pointed
\r
1085 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1086 must be adjusted to point to a different task. */
\r
1087 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1089 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1090 NULL so when the next task is created pxCurrentTCB will
\r
1091 be set to point to it no matter what its relative priority
\r
1093 pxCurrentTCB = NULL;
\r
1097 vTaskSwitchContext();
\r
1103 #endif /* INCLUDE_vTaskSuspend */
\r
1104 /*-----------------------------------------------------------*/
\r
1106 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1108 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
1110 portBASE_TYPE xReturn = pdFALSE;
\r
1111 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1113 /* It does not make sense to check if the calling task is suspended. */
\r
1114 configASSERT( xTask );
\r
1116 /* Is the task we are attempting to resume actually in the
\r
1117 suspended list? */
\r
1118 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1120 /* Has the task already been resumed from within an ISR? */
\r
1121 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
1123 /* Is it in the suspended list because it is in the
\r
1124 Suspended state? It is possible to be in the suspended
\r
1125 list because it is blocked on a task with no timeout
\r
1127 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
1137 #endif /* INCLUDE_vTaskSuspend */
\r
1138 /*-----------------------------------------------------------*/
\r
1140 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1142 void vTaskResume( xTaskHandle xTaskToResume )
\r
1146 /* It does not make sense to resume the calling task. */
\r
1147 configASSERT( xTaskToResume );
\r
1149 /* Remove the task from whichever list it is currently in, and place
\r
1150 it in the ready list. */
\r
1151 pxTCB = ( tskTCB * ) xTaskToResume;
\r
1153 /* The parameter cannot be NULL as it is impossible to resume the
\r
1154 currently executing task. */
\r
1155 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1157 taskENTER_CRITICAL();
\r
1159 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1161 traceTASK_RESUME( pxTCB );
\r
1163 /* As we are in a critical section we can access the ready
\r
1164 lists even if the scheduler is suspended. */
\r
1165 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1166 prvAddTaskToReadyQueue( pxTCB );
\r
1168 /* We may have just resumed a higher priority task. */
\r
1169 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1171 /* This yield may not cause the task just resumed to run, but
\r
1172 will leave the lists in the correct state for the next yield. */
\r
1173 portYIELD_WITHIN_API();
\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
1191 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1193 configASSERT( xTaskToResume );
\r
1195 pxTCB = ( tskTCB * ) xTaskToResume;
\r
1197 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1199 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1201 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1203 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1205 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1206 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1207 prvAddTaskToReadyQueue( pxTCB );
\r
1211 /* We cannot access the delayed or ready lists, so will hold this
\r
1212 task pending until the scheduler is resumed, at which point a
\r
1213 yield will be performed if necessary. */
\r
1214 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1218 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1220 return xYieldRequired;
\r
1223 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1224 /*-----------------------------------------------------------*/
\r
1226 void vTaskStartScheduler( void )
\r
1228 portBASE_TYPE xReturn;
\r
1230 /* Add the idle task at the lowest priority. */
\r
1231 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1233 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1234 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1235 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );
\r
1239 /* Create the idle task without storing its handle. */
\r
1240 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
\r
1242 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1244 #if ( configUSE_TIMERS == 1 )
\r
1246 if( xReturn == pdPASS )
\r
1248 xReturn = xTimerCreateTimerTask();
\r
1251 #endif /* configUSE_TIMERS */
\r
1253 if( xReturn == pdPASS )
\r
1255 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1256 before or during the call to xPortStartScheduler(). The stacks of
\r
1257 the created tasks contain a status word with interrupts switched on
\r
1258 so interrupts will automatically get re-enabled when the first task
\r
1261 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1262 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1263 portDISABLE_INTERRUPTS();
\r
1265 xSchedulerRunning = pdTRUE;
\r
1266 xTickCount = ( portTickType ) 0U;
\r
1268 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1269 macro must be defined to configure the timer/counter used to generate
\r
1270 the run time counter time base. */
\r
1271 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1273 /* Setting up the timer tick is hardware specific and thus in the
\r
1274 portable interface. */
\r
1275 if( xPortStartScheduler() != pdFALSE )
\r
1277 /* Should not reach here as if the scheduler is running the
\r
1278 function will not return. */
\r
1282 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1287 /* This line will only be reached if the kernel could not be started,
\r
1288 because there was not enough FreeRTOS heap to create the idle task
\r
1289 or the timer task. */
\r
1290 configASSERT( xReturn );
\r
1293 /*-----------------------------------------------------------*/
\r
1295 void vTaskEndScheduler( void )
\r
1297 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1298 routine so the original ISRs can be restored if necessary. The port
\r
1299 layer must ensure interrupts enable bit is left in the correct state. */
\r
1300 portDISABLE_INTERRUPTS();
\r
1301 xSchedulerRunning = pdFALSE;
\r
1302 vPortEndScheduler();
\r
1304 /*----------------------------------------------------------*/
\r
1306 void vTaskSuspendAll( void )
\r
1308 /* A critical section is not required as the variable is of type
\r
1310 ++uxSchedulerSuspended;
\r
1312 /*----------------------------------------------------------*/
\r
1314 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1316 static portTickType prvGetExpectedIdleTime( void )
\r
1318 portTickType xReturn;
\r
1320 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1324 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1326 /* There are other idle priority tasks in the ready state. If
\r
1327 time slicing is used then the very next tick interrupt must be
\r
1333 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1339 #endif /* configUSE_TICKLESS_IDLE */
\r
1340 /*----------------------------------------------------------*/
\r
1342 signed portBASE_TYPE xTaskResumeAll( void )
\r
1344 register tskTCB *pxTCB;
\r
1345 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1347 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1348 previous call to vTaskSuspendAll(). */
\r
1349 configASSERT( uxSchedulerSuspended );
\r
1351 /* It is possible that an ISR caused a task to be removed from an event
\r
1352 list while the scheduler was suspended. If this was the case then the
\r
1353 removed task will have been added to the xPendingReadyList. Once the
\r
1354 scheduler has been resumed it is safe to move all the pending ready
\r
1355 tasks from this list into their appropriate ready list. */
\r
1356 taskENTER_CRITICAL();
\r
1358 --uxSchedulerSuspended;
\r
1360 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1362 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1364 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1366 /* Move any readied tasks from the pending list into the
\r
1367 appropriate ready list. */
\r
1368 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1370 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1371 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1372 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1373 prvAddTaskToReadyQueue( pxTCB );
\r
1375 /* If we have moved a task that has a priority higher than
\r
1376 the current task then we should yield. */
\r
1377 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1379 xYieldRequired = pdTRUE;
\r
1383 /* If any ticks occurred while the scheduler was suspended then
\r
1384 they should be processed now. This ensures the tick count does not
\r
1385 slip, and that any delayed tasks are resumed at the correct time. */
\r
1386 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1388 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1390 vTaskIncrementTick();
\r
1394 /* As we have processed some ticks it is appropriate to yield
\r
1395 to ensure the highest priority task that is ready to run is
\r
1396 the task actually running. */
\r
1397 #if configUSE_PREEMPTION == 1
\r
1399 xYieldRequired = pdTRUE;
\r
1404 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1406 xAlreadyYielded = pdTRUE;
\r
1407 xMissedYield = pdFALSE;
\r
1408 portYIELD_WITHIN_API();
\r
1413 taskEXIT_CRITICAL();
\r
1415 return xAlreadyYielded;
\r
1417 /*-----------------------------------------------------------*/
\r
1419 portTickType xTaskGetTickCount( void )
\r
1421 portTickType xTicks;
\r
1423 /* Critical section required if running on a 16 bit processor. */
\r
1424 taskENTER_CRITICAL();
\r
1426 xTicks = xTickCount;
\r
1428 taskEXIT_CRITICAL();
\r
1432 /*-----------------------------------------------------------*/
\r
1434 portTickType xTaskGetTickCountFromISR( void )
\r
1436 portTickType xReturn;
\r
1437 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1439 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1440 xReturn = xTickCount;
\r
1441 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1445 /*-----------------------------------------------------------*/
\r
1447 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1449 /* A critical section is not required because the variables are of type
\r
1451 return uxCurrentNumberOfTasks;
\r
1453 /*-----------------------------------------------------------*/
\r
1455 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1457 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1461 /* If null is passed in here then the name of the calling task is being queried. */
\r
1462 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1463 configASSERT( pxTCB );
\r
1464 return &( pxTCB->pcTaskName[ 0 ] );
\r
1467 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1468 /*-----------------------------------------------------------*/
\r
1470 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1472 void vTaskList( signed char *pcWriteBuffer )
\r
1474 unsigned portBASE_TYPE uxQueue;
\r
1476 /* This is a VERY costly function that should be used for debug only.
\r
1477 It leaves interrupts disabled for a LONG time. */
\r
1479 vTaskSuspendAll();
\r
1481 /* Run through all the lists that could potentially contain a TCB and
\r
1482 report the task name, state and stack high water mark. */
\r
1484 *pcWriteBuffer = ( signed char ) 0x00;
\r
1485 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1487 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1493 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1495 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1497 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1499 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1501 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1504 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1506 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1509 #if( INCLUDE_vTaskDelete == 1 )
\r
1511 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1513 prvListTaskWithinSingleList( pcWriteBuffer, &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1518 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1520 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1522 prvListTaskWithinSingleList( pcWriteBuffer, &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1530 #endif /* configUSE_TRACE_FACILITY */
\r
1531 /*----------------------------------------------------------*/
\r
1533 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1535 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1537 unsigned portBASE_TYPE uxQueue;
\r
1538 unsigned long ulTotalRunTimeDiv100;
\r
1540 /* This is a VERY costly function that should be used for debug only.
\r
1541 It leaves interrupts disabled for a LONG time. */
\r
1543 vTaskSuspendAll();
\r
1545 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1546 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1548 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1551 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1552 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1553 ulTotalRunTimeDiv100 = ulTotalRunTime / 100UL;
\r
1555 /* Run through all the lists that could potentially contain a TCB,
\r
1556 generating a table of run timer percentages in the provided
\r
1559 *pcWriteBuffer = ( signed char ) 0x00;
\r
1560 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1562 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1568 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1570 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTimeDiv100 );
\r
1572 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1574 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1576 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTimeDiv100 );
\r
1579 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1581 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTimeDiv100 );
\r
1584 #if ( INCLUDE_vTaskDelete == 1 )
\r
1586 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1588 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTimeDiv100 );
\r
1593 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1595 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1597 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTimeDiv100 );
\r
1605 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1606 /*----------------------------------------------------------*/
\r
1608 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1610 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1612 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1613 started, then xIdleTaskHandle will be NULL. */
\r
1614 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1615 return xIdleTaskHandle;
\r
1618 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1619 /*----------------------------------------------------------*/
\r
1621 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1622 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1623 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1625 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1627 void vTaskStepTick( portTickType xTicksToJump )
\r
1629 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1630 xTickCount += xTicksToJump;
\r
1633 #endif /* configUSE_TICKLESS_IDLE */
\r
1634 /*----------------------------------------------------------*/
\r
1636 void vTaskIncrementTick( void )
\r
1640 /* Called by the portable layer each time a tick interrupt occurs.
\r
1641 Increments the tick then checks to see if the new tick value will cause any
\r
1642 tasks to be unblocked. */
\r
1643 traceTASK_INCREMENT_TICK( xTickCount );
\r
1644 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1647 if( xTickCount == ( portTickType ) 0U )
\r
1651 /* Tick count has overflowed so we need to swap the delay lists.
\r
1652 If there are any items in pxDelayedTaskList here then there is
\r
1654 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );
\r
1656 pxTemp = pxDelayedTaskList;
\r
1657 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1658 pxOverflowDelayedTaskList = pxTemp;
\r
1659 xNumOfOverflows++;
\r
1661 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1663 /* The new current delayed list is empty. Set
\r
1664 xNextTaskUnblockTime to the maximum possible value so it is
\r
1665 extremely unlikely that the
\r
1666 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
1667 there is an item in the delayed list. */
\r
1668 xNextTaskUnblockTime = portMAX_DELAY;
\r
1672 /* The new current delayed list is not empty, get the value of
\r
1673 the item at the head of the delayed list. This is the time at
\r
1674 which the task at the head of the delayed list should be removed
\r
1675 from the Blocked state. */
\r
1676 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1677 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1681 /* See if this tick has made a timeout expire. */
\r
1682 prvCheckDelayedTasks();
\r
1688 /* The tick hook gets called at regular intervals, even if the
\r
1689 scheduler is locked. */
\r
1690 #if ( configUSE_TICK_HOOK == 1 )
\r
1692 vApplicationTickHook();
\r
1697 #if ( configUSE_TICK_HOOK == 1 )
\r
1699 /* Guard against the tick hook being called when the missed tick
\r
1700 count is being unwound (when the scheduler is being unlocked. */
\r
1701 if( uxMissedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1703 vApplicationTickHook();
\r
1706 #endif /* configUSE_TICK_HOOK */
\r
1708 /*-----------------------------------------------------------*/
\r
1710 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1712 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1716 /* If xTask is NULL then we are setting our own task hook. */
\r
1717 if( xTask == NULL )
\r
1719 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1723 xTCB = ( tskTCB * ) xTask;
\r
1726 /* Save the hook function in the TCB. A critical section is required as
\r
1727 the value can be accessed from an interrupt. */
\r
1728 taskENTER_CRITICAL();
\r
1729 xTCB->pxTaskTag = pxHookFunction;
\r
1730 taskEXIT_CRITICAL();
\r
1733 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1734 /*-----------------------------------------------------------*/
\r
1736 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1738 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1741 pdTASK_HOOK_CODE xReturn;
\r
1743 /* If xTask is NULL then we are setting our own task hook. */
\r
1744 if( xTask == NULL )
\r
1746 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1750 xTCB = ( tskTCB * ) xTask;
\r
1753 /* Save the hook function in the TCB. A critical section is required as
\r
1754 the value can be accessed from an interrupt. */
\r
1755 taskENTER_CRITICAL();
\r
1756 xReturn = xTCB->pxTaskTag;
\r
1757 taskEXIT_CRITICAL();
\r
1762 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1763 /*-----------------------------------------------------------*/
\r
1765 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1767 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1770 portBASE_TYPE xReturn;
\r
1772 /* If xTask is NULL then we are calling our own task hook. */
\r
1773 if( xTask == NULL )
\r
1775 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1779 xTCB = ( tskTCB * ) xTask;
\r
1782 if( xTCB->pxTaskTag != NULL )
\r
1784 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1794 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1795 /*-----------------------------------------------------------*/
\r
1797 void vTaskSwitchContext( void )
\r
1799 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1801 /* The scheduler is currently suspended - do not allow a context
\r
1803 xMissedYield = pdTRUE;
\r
1807 traceTASK_SWITCHED_OUT();
\r
1809 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1811 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1812 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1814 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1817 /* Add the amount of time the task has been running to the accumulated
\r
1818 time so far. The time the task started running was stored in
\r
1819 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1820 so count values are only valid until the timer overflows. Generally
\r
1821 this will be about 1 hour assuming a 1uS timer increment. */
\r
1822 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
1823 ulTaskSwitchedInTime = ulTotalRunTime;
\r
1825 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1827 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1828 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1830 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
1832 traceTASK_SWITCHED_IN();
\r
1835 /*-----------------------------------------------------------*/
\r
1837 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1839 portTickType xTimeToWake;
\r
1841 configASSERT( pxEventList );
\r
1843 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1844 SCHEDULER SUSPENDED. */
\r
1846 /* Place the event list item of the TCB in the appropriate event list.
\r
1847 This is placed in the list in priority order so the highest priority task
\r
1848 is the first to be woken by the event. */
\r
1849 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1851 /* We must remove ourselves from the ready list before adding ourselves
\r
1852 to the blocked list as the same list item is used for both lists. We have
\r
1853 exclusive access to the ready lists as the scheduler is locked. */
\r
1854 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1856 /* The current task must be in a ready list, so there is no need to
\r
1857 check, and the port reset macro can be called directly. */
\r
1858 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1861 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1863 if( xTicksToWait == portMAX_DELAY )
\r
1865 /* Add ourselves to the suspended task list instead of a delayed task
\r
1866 list to ensure we are not woken by a timing event. We will block
\r
1868 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1872 /* Calculate the time at which the task should be woken if the event does
\r
1873 not occur. This may overflow but this doesn't matter. */
\r
1874 xTimeToWake = xTickCount + xTicksToWait;
\r
1875 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1878 #else /* INCLUDE_vTaskSuspend */
\r
1880 /* Calculate the time at which the task should be woken if the event does
\r
1881 not occur. This may overflow but this doesn't matter. */
\r
1882 xTimeToWake = xTickCount + xTicksToWait;
\r
1883 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1885 #endif /* INCLUDE_vTaskSuspend */
\r
1887 /*-----------------------------------------------------------*/
\r
1889 #if configUSE_TIMERS == 1
\r
1891 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1893 portTickType xTimeToWake;
\r
1895 configASSERT( pxEventList );
\r
1897 /* This function should not be called by application code hence the
\r
1898 'Restricted' in its name. It is not part of the public API. It is
\r
1899 designed for use by kernel code, and has special calling requirements -
\r
1900 it should be called from a critical section. */
\r
1903 /* Place the event list item of the TCB in the appropriate event list.
\r
1904 In this case it is assume that this is the only task that is going to
\r
1905 be waiting on this event list, so the faster vListInsertEnd() function
\r
1906 can be used in place of vListInsert. */
\r
1907 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1909 /* We must remove this task from the ready list before adding it to the
\r
1910 blocked list as the same list item is used for both lists. This
\r
1911 function is called form a critical section. */
\r
1912 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 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 /* Calculate the time at which the task should be woken if the event does
\r
1920 not occur. This may overflow but this doesn't matter. */
\r
1921 xTimeToWake = xTickCount + xTicksToWait;
\r
1923 traceTASK_DELAY_UNTIL();
\r
1924 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1927 #endif /* configUSE_TIMERS */
\r
1928 /*-----------------------------------------------------------*/
\r
1930 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1932 tskTCB *pxUnblockedTCB;
\r
1933 portBASE_TYPE xReturn;
\r
1935 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1936 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1938 /* The event list is sorted in priority order, so we can remove the
\r
1939 first in the list, remove the TCB from the delayed list, and add
\r
1940 it to the ready list.
\r
1942 If an event is for a queue that is locked then this function will never
\r
1943 get called - the lock count on the queue will get modified instead. This
\r
1944 means we can always expect exclusive access to the event list here.
\r
1946 This function assumes that a check has already been made to ensure that
\r
1947 pxEventList is not empty. */
\r
1948 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1949 configASSERT( pxUnblockedTCB );
\r
1950 uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1952 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1954 uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1955 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1959 /* We cannot access the delayed or ready lists, so will hold this
\r
1960 task pending until the scheduler is resumed. */
\r
1961 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1964 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1966 /* Return true if the task removed from the event list has
\r
1967 a higher priority than the calling task. This allows
\r
1968 the calling task to know if it should force a context
\r
1974 xReturn = pdFALSE;
\r
1979 /*-----------------------------------------------------------*/
\r
1981 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1983 configASSERT( pxTimeOut );
\r
1984 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1985 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1987 /*-----------------------------------------------------------*/
\r
1989 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1991 portBASE_TYPE xReturn;
\r
1993 configASSERT( pxTimeOut );
\r
1994 configASSERT( pxTicksToWait );
\r
1996 taskENTER_CRITICAL();
\r
1998 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1999 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2000 the maximum block time then the task should block indefinitely, and
\r
2001 therefore never time out. */
\r
2002 if( *pxTicksToWait == portMAX_DELAY )
\r
2004 xReturn = pdFALSE;
\r
2006 else /* We are not blocking indefinitely, perform the checks below. */
\r
2009 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
2011 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2012 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2013 It must have wrapped all the way around and gone past us again. This
\r
2014 passed since vTaskSetTimeout() was called. */
\r
2017 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
2019 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2020 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
2021 vTaskSetTimeOutState( pxTimeOut );
\r
2022 xReturn = pdFALSE;
\r
2029 taskEXIT_CRITICAL();
\r
2033 /*-----------------------------------------------------------*/
\r
2035 void vTaskMissedYield( void )
\r
2037 xMissedYield = pdTRUE;
\r
2039 /*-----------------------------------------------------------*/
\r
2041 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2043 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
2045 unsigned portBASE_TYPE uxReturn;
\r
2048 if( xTask != NULL )
\r
2050 pxTCB = ( tskTCB * ) xTask;
\r
2051 uxReturn = pxTCB->uxTaskNumber;
\r
2061 #endif /* configUSE_TRACE_FACILITY */
\r
2062 /*-----------------------------------------------------------*/
\r
2064 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2066 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
2070 if( xTask != NULL )
\r
2072 pxTCB = ( tskTCB * ) xTask;
\r
2073 pxTCB->uxTaskNumber = uxHandle;
\r
2077 #endif /* configUSE_TRACE_FACILITY */
\r
2080 * -----------------------------------------------------------
\r
2082 * ----------------------------------------------------------
\r
2084 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2085 * language extensions. The equivalent prototype for this function is:
\r
2087 * void prvIdleTask( void *pvParameters );
\r
2090 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2092 /* Stop warnings. */
\r
2093 ( void ) pvParameters;
\r
2097 /* See if any tasks have been deleted. */
\r
2098 prvCheckTasksWaitingTermination();
\r
2100 #if ( configUSE_PREEMPTION == 0 )
\r
2102 /* If we are not using preemption we keep forcing a task switch to
\r
2103 see if any other task has become available. If we are using
\r
2104 preemption we don't need to do this as any task becoming available
\r
2105 will automatically get the processor anyway. */
\r
2108 #endif /* configUSE_PREEMPTION */
\r
2110 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2112 /* When using preemption tasks of equal priority will be
\r
2113 timesliced. If a task that is sharing the idle priority is ready
\r
2114 to run then the idle task should yield before the end of the
\r
2117 A critical region is not required here as we are just reading from
\r
2118 the list, and an occasional incorrect value will not matter. If
\r
2119 the ready list at the idle priority contains more than one task
\r
2120 then a task other than the idle task is ready to execute. */
\r
2121 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2126 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2128 #if ( configUSE_IDLE_HOOK == 1 )
\r
2130 extern void vApplicationIdleHook( void );
\r
2132 /* Call the user defined function from within the idle task. This
\r
2133 allows the application designer to add background functionality
\r
2134 without the overhead of a separate task.
\r
2135 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2136 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2137 vApplicationIdleHook();
\r
2139 #endif /* configUSE_IDLE_HOOK */
\r
2141 /* This conditional compilation should use inequality to 0, not equality
\r
2142 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2143 user defined low power mode implementations require
\r
2144 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2145 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2147 portTickType xExpectedIdleTime;
\r
2148 /* It is not desirable to suspend then resume the scheduler on
\r
2149 each iteration of the idle task. Therefore, a preliminary
\r
2150 test of the expected idle time is performed without the
\r
2151 scheduler suspended. The result here is not necessarily
\r
2153 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2155 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2157 vTaskSuspendAll();
\r
2159 /* Now the scheduler is suspended, the expected idle
\r
2160 time can be sampled again, and this time its value can
\r
2162 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2163 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2165 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2167 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2173 #endif /* configUSE_TICKLESS_IDLE */
\r
2175 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
2176 /*-----------------------------------------------------------*/
\r
2178 #if configUSE_TICKLESS_IDLE != 0
\r
2180 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2182 eSleepModeStatus eReturn = eStandardSleep;
\r
2184 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2186 /* A task was made ready while the scheduler was suspended. */
\r
2187 eReturn = eAbortSleep;
\r
2189 else if( xMissedYield != pdFALSE )
\r
2191 /* A yield was pended while the scheduler was suspended. */
\r
2192 eReturn = eAbortSleep;
\r
2196 #if configUSE_TIMERS == 0
\r
2198 /* The idle task exists in addition to the application tasks. */
\r
2199 const unsigned portBASE_TYPE uxNonApplicationTasks = 1;
\r
2201 /* If timers are not being used and all the tasks are in the
\r
2202 suspended list (which might mean they have an infinite block
\r
2203 time rather than actually being suspended) then it is safe to
\r
2204 turn all clocks off and just wait for external interrupts. */
\r
2205 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2207 eReturn = eNoTasksWaitingTimeout;
\r
2210 #endif /* configUSE_TIMERS */
\r
2215 #endif /* configUSE_TICKLESS_IDLE */
\r
2216 /*-----------------------------------------------------------*/
\r
2218 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2220 /* Store the function name in the TCB. */
\r
2221 #if configMAX_TASK_NAME_LEN > 1
\r
2223 /* Don't bring strncpy into the build unnecessarily. */
\r
2224 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
2226 #endif /* configMAX_TASK_NAME_LEN */
\r
2227 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
\r
2229 /* This is used as an array index so must ensure it's not too large. First
\r
2230 remove the privilege bit if one is present. */
\r
2231 if( uxPriority >= configMAX_PRIORITIES )
\r
2233 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2236 pxTCB->uxPriority = uxPriority;
\r
2237 #if ( configUSE_MUTEXES == 1 )
\r
2239 pxTCB->uxBasePriority = uxPriority;
\r
2241 #endif /* configUSE_MUTEXES */
\r
2243 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2244 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2246 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2247 back to the containing TCB from a generic item in a list. */
\r
2248 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2250 /* Event lists are always in priority order. */
\r
2251 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
2252 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2254 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2256 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2258 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2260 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2262 pxTCB->pxTaskTag = NULL;
\r
2264 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2266 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2268 pxTCB->ulRunTimeCounter = 0UL;
\r
2270 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2272 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2274 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2276 #else /* portUSING_MPU_WRAPPERS */
\r
2278 ( void ) xRegions;
\r
2279 ( void ) usStackDepth;
\r
2281 #endif /* portUSING_MPU_WRAPPERS */
\r
2283 /*-----------------------------------------------------------*/
\r
2285 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2287 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2291 if( xTaskToModify == pxCurrentTCB )
\r
2293 xTaskToModify = NULL;
\r
2296 /* If null is passed in here then we are deleting ourselves. */
\r
2297 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2299 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2302 #endif /* portUSING_MPU_WRAPPERS */
\r
2303 /*-----------------------------------------------------------*/
\r
2305 static void prvInitialiseTaskLists( void )
\r
2307 unsigned portBASE_TYPE uxPriority;
\r
2309 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2311 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2314 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2315 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2316 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2318 #if ( INCLUDE_vTaskDelete == 1 )
\r
2320 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2322 #endif /* INCLUDE_vTaskDelete */
\r
2324 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2326 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2328 #endif /* INCLUDE_vTaskSuspend */
\r
2330 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2332 pxDelayedTaskList = &xDelayedTaskList1;
\r
2333 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2335 /*-----------------------------------------------------------*/
\r
2337 static void prvCheckTasksWaitingTermination( void )
\r
2339 #if ( INCLUDE_vTaskDelete == 1 )
\r
2341 portBASE_TYPE xListIsEmpty;
\r
2343 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2344 too often in the idle task. */
\r
2345 while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2347 vTaskSuspendAll();
\r
2348 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2351 if( xListIsEmpty == pdFALSE )
\r
2355 taskENTER_CRITICAL();
\r
2357 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2358 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2359 --uxCurrentNumberOfTasks;
\r
2362 taskEXIT_CRITICAL();
\r
2364 prvDeleteTCB( pxTCB );
\r
2368 #endif /* vTaskDelete */
\r
2370 /*-----------------------------------------------------------*/
\r
2372 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2374 /* The list item will be inserted in wake time order. */
\r
2375 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2377 if( xTimeToWake < xTickCount )
\r
2379 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2380 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2384 /* The wake time has not overflowed, so we can use the current block list. */
\r
2385 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2387 /* If the task entering the blocked state was placed at the head of the
\r
2388 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2390 if( xTimeToWake < xNextTaskUnblockTime )
\r
2392 xNextTaskUnblockTime = xTimeToWake;
\r
2396 /*-----------------------------------------------------------*/
\r
2398 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2402 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2403 the implementation of the port malloc function. */
\r
2404 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2406 if( pxNewTCB != NULL )
\r
2408 /* Allocate space for the stack used by the task being created.
\r
2409 The base of the stack memory stored in the TCB so the task can
\r
2410 be deleted later if required. */
\r
2411 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2413 if( pxNewTCB->pxStack == NULL )
\r
2415 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2416 vPortFree( pxNewTCB );
\r
2421 /* Just to help debugging. */
\r
2422 memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2428 /*-----------------------------------------------------------*/
\r
2430 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2432 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2434 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2435 unsigned short usStackRemaining;
\r
2436 PRIVILEGED_DATA static char pcStatusString[ configMAX_TASK_NAME_LEN + 30 ];
\r
2438 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2439 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2442 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2443 #if ( portSTACK_GROWTH > 0 )
\r
2445 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2449 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2453 sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, ( unsigned int ) usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
\r
2454 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2456 } while( pxNextTCB != pxFirstTCB );
\r
2459 #endif /* configUSE_TRACE_FACILITY */
\r
2460 /*-----------------------------------------------------------*/
\r
2462 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2464 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTimeDiv100 )
\r
2466 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2467 unsigned long ulStatsAsPercentage;
\r
2469 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2470 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2473 /* Get next TCB in from the list. */
\r
2474 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2476 /* Divide by zero check. */
\r
2477 if( ulTotalRunTimeDiv100 > 0UL )
\r
2479 /* Has the task run at all? */
\r
2480 if( pxNextTCB->ulRunTimeCounter == 0UL )
\r
2482 /* The task has used no CPU time at all. */
\r
2483 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2487 /* What percentage of the total run time has the task used?
\r
2488 This will always be rounded down to the nearest integer.
\r
2489 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
2490 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTimeDiv100;
\r
2492 if( ulStatsAsPercentage > 0UL )
\r
2494 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2496 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2500 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2501 printf() library can be used. */
\r
2502 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2508 /* If the percentage is zero here then the task has
\r
2509 consumed less than 1% of the total run time. */
\r
2510 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2512 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2516 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2517 printf() library can be used. */
\r
2518 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2524 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2527 } while( pxNextTCB != pxFirstTCB );
\r
2530 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2531 /*-----------------------------------------------------------*/
\r
2533 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2535 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2537 register unsigned short usCount = 0U;
\r
2539 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2541 pucStackByte -= portSTACK_GROWTH;
\r
2545 usCount /= sizeof( portSTACK_TYPE );
\r
2550 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
2551 /*-----------------------------------------------------------*/
\r
2553 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2555 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2558 unsigned char *pcEndOfStack;
\r
2559 unsigned portBASE_TYPE uxReturn;
\r
2561 pxTCB = prvGetTCBFromHandle( xTask );
\r
2563 #if portSTACK_GROWTH < 0
\r
2565 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2569 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2573 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2578 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
2579 /*-----------------------------------------------------------*/
\r
2581 #if ( INCLUDE_vTaskDelete == 1 )
\r
2583 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2585 /* This call is required specifically for the TriCore port. It must be
\r
2586 above the vPortFree() calls. The call is also used by ports/demos that
\r
2587 want to allocate and clean RAM statically. */
\r
2588 portCLEAN_UP_TCB( pxTCB );
\r
2590 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2591 the task to free any memory allocated at the application level. */
\r
2592 vPortFreeAligned( pxTCB->pxStack );
\r
2593 vPortFree( pxTCB );
\r
2596 #endif /* INCLUDE_vTaskDelete */
\r
2597 /*-----------------------------------------------------------*/
\r
2599 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2601 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2603 xTaskHandle xReturn;
\r
2605 /* A critical section is not required as this is not called from
\r
2606 an interrupt and the current TCB will always be the same for any
\r
2607 individual execution thread. */
\r
2608 xReturn = pxCurrentTCB;
\r
2613 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
2614 /*-----------------------------------------------------------*/
\r
2616 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2618 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2620 portBASE_TYPE xReturn;
\r
2622 if( xSchedulerRunning == pdFALSE )
\r
2624 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2628 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2630 xReturn = taskSCHEDULER_RUNNING;
\r
2634 xReturn = taskSCHEDULER_SUSPENDED;
\r
2641 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
2642 /*-----------------------------------------------------------*/
\r
2644 #if ( configUSE_MUTEXES == 1 )
\r
2646 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2648 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2650 /* If the mutex was given back by an interrupt while the queue was
\r
2651 locked then the mutex holder might now be NULL. */
\r
2652 if( pxMutexHolder != NULL )
\r
2654 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2656 /* Adjust the mutex holder state to account for its new priority. */
\r
2657 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2659 /* If the task being modified is in the ready state it will need to
\r
2660 be moved into a new list. */
\r
2661 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2663 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2665 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2668 /* Inherit the priority before being moved into the new list. */
\r
2669 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2670 prvAddTaskToReadyQueue( pxTCB );
\r
2674 /* Just inherit the priority. */
\r
2675 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2678 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2683 #endif /* configUSE_MUTEXES */
\r
2684 /*-----------------------------------------------------------*/
\r
2686 #if ( configUSE_MUTEXES == 1 )
\r
2688 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2690 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2692 if( pxMutexHolder != NULL )
\r
2694 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2696 /* We must be the running task to be able to give the mutex back.
\r
2697 Remove ourselves from the ready list we currently appear in. */
\r
2698 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2700 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2703 /* Disinherit the priority before adding the task into the new
\r
2705 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2706 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2707 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2708 prvAddTaskToReadyQueue( pxTCB );
\r
2713 #endif /* configUSE_MUTEXES */
\r
2714 /*-----------------------------------------------------------*/
\r
2716 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2718 void vTaskEnterCritical( void )
\r
2720 portDISABLE_INTERRUPTS();
\r
2722 if( xSchedulerRunning != pdFALSE )
\r
2724 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2728 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2729 /*-----------------------------------------------------------*/
\r
2731 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2733 void vTaskExitCritical( void )
\r
2735 if( xSchedulerRunning != pdFALSE )
\r
2737 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2739 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2741 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2743 portENABLE_INTERRUPTS();
\r
2749 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2750 /*-----------------------------------------------------------*/
\r
projects / freertos / blob