2 FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 ***************************************************************************
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46 * Having a problem? Start by reading the FAQ "My application does *
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47 * not run, what could be wrong? *
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49 * http://www.FreeRTOS.org/FAQHelp.html *
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51 ***************************************************************************
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54 http://www.FreeRTOS.org - Documentation, training, latest information,
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55 license and contact details.
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57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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58 including FreeRTOS+Trace - an indispensable productivity tool.
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60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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61 the code with commercial support, indemnification, and middleware, under
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62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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63 provide a safety engineered and independently SIL3 certified version under
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64 the SafeRTOS brand: http://www.SafeRTOS.com.
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67 /* Standard includes. */
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72 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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73 all the API functions to use the MPU wrappers. That should only be done when
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74 task.h is included from an application file. */
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75 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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77 /* FreeRTOS includes. */
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78 #include "FreeRTOS.h"
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81 #include "StackMacros.h"
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83 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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86 * Defines the size, in words, of the stack allocated to the idle task.
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88 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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91 * Task control block. A task control block (TCB) is allocated for each task,
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92 * and stores task state information, including a pointer to the task's context
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93 * (the task's run time environment, including register values)
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95 typedef struct tskTaskControlBlock
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97 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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99 #if ( portUSING_MPU_WRAPPERS == 1 )
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100 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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103 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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104 xListItem xEventListItem; /*< Used to reference a task from an event list. */
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105 unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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106 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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107 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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109 #if ( portSTACK_GROWTH > 0 )
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110 portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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113 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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114 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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117 #if ( configUSE_TRACE_FACILITY == 1 )
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118 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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119 unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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122 #if ( configUSE_MUTEXES == 1 )
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123 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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126 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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127 pdTASK_HOOK_CODE pxTaskTag;
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130 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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131 unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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138 * Some kernel aware debuggers require the data the debugger needs access to to
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139 * be global, rather than file scope.
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141 #ifdef portREMOVE_STATIC_QUALIFIER
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146 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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148 /* Lists for ready and blocked tasks. --------------------*/
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149 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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150 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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151 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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152 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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153 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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154 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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156 #if ( INCLUDE_vTaskDelete == 1 )
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158 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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159 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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163 #if ( INCLUDE_vTaskSuspend == 1 )
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165 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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169 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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171 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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175 /* File private variables. --------------------------------*/
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176 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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177 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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178 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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179 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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180 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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181 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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182 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0U;
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183 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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184 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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185 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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186 PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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188 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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190 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
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191 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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192 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
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196 /* Debugging and trace facilities private variables and macros. ------------*/
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199 * The value used to fill the stack of a task when the task is created. This
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200 * is used purely for checking the high water mark for tasks.
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202 #define tskSTACK_FILL_BYTE ( 0xa5U )
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205 * Macros used by vListTask to indicate which state a task is in.
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207 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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208 #define tskREADY_CHAR ( ( signed char ) 'R' )
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209 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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210 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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212 /*-----------------------------------------------------------*/
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214 #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 0
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216 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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217 performed in a generic way that is not optimised to any particular
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218 microcontroller architecture. */
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220 /* uxTopReadyPriority holds the priority of the highest priority ready
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222 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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224 if( ( uxPriority ) > uxTopReadyPriority ) \
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226 uxTopReadyPriority = ( uxPriority ); \
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228 } /* taskRECORD_READY_PRIORITY */
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230 /*-----------------------------------------------------------*/
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232 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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234 /* Find the highest priority queue that contains ready tasks. */ \
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235 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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237 configASSERT( uxTopReadyPriority ); \
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238 --uxTopReadyPriority; \
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241 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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242 the same priority get an equal share of the processor time. */ \
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243 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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244 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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246 /*-----------------------------------------------------------*/
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248 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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249 they are only required when a port optimised method of task selection is
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251 #define taskRESET_READY_PRIORITY( uxPriority )
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252 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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254 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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256 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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257 performed in a way that is tailored to the particular microcontroller
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258 architecture being used. */
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260 /* A port optimised version is provided. Call the port defined macros. */
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261 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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263 /*-----------------------------------------------------------*/
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265 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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267 unsigned portBASE_TYPE uxTopPriority; \
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269 /* Find the highest priority queue that contains ready tasks. */ \
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270 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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271 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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272 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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273 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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275 /*-----------------------------------------------------------*/
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277 /* A port optimised version is provided, call it only if the TCB being reset
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278 is being referenced from a ready list. If it is referenced from a delayed
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279 or suspended list then it won't be in a ready list. */
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280 #define taskRESET_READY_PRIORITY( uxPriority ) \
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282 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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284 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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288 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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291 * Place the task represented by pxTCB into the appropriate ready queue for
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292 * the task. It is inserted at the end of the list. One quirk of this is
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293 * that if the task being inserted is at the same priority as the currently
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294 * executing task, then it will only be rescheduled after the currently
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295 * executing task has been rescheduled.
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297 #define prvAddTaskToReadyQueue( pxTCB ) \
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298 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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299 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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300 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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301 /*-----------------------------------------------------------*/
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304 * Macro that looks at the list of tasks that are currently delayed to see if
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305 * any require waking.
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307 * Tasks are stored in the queue in the order of their wake time - meaning
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308 * once one tasks has been found whose timer has not expired we need not look
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309 * any further down the list.
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311 #define prvCheckDelayedTasks() \
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313 portTickType xItemValue; \
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315 /* Is the tick count greater than or equal to the wake time of the first \
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316 task referenced from the delayed tasks list? */ \
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317 if( xTickCount >= xNextTaskUnblockTime ) \
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321 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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323 /* The delayed list is empty. Set xNextTaskUnblockTime to the \
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324 maximum possible value so it is extremely unlikely that the \
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325 if( xTickCount >= xNextTaskUnblockTime ) test will pass next \
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327 xNextTaskUnblockTime = portMAX_DELAY; \
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332 /* The delayed list is not empty, get the value of the item at \
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333 the head of the delayed list. This is the time at which the \
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334 task at the head of the delayed list should be removed from \
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335 the Blocked state. */ \
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336 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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337 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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339 if( xTickCount < xItemValue ) \
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341 /* It is not time to unblock this item yet, but the item \
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342 value is the time at which the task at the head of the \
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343 blocked list should be removed from the Blocked state - \
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344 so record the item value in xNextTaskUnblockTime. */ \
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345 xNextTaskUnblockTime = xItemValue; \
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349 /* It is time to remove the item from the Blocked state. */ \
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350 uxListRemove( &( pxTCB->xGenericListItem ) ); \
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352 /* Is the task waiting on an event also? */ \
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353 if( pxTCB->xEventListItem.pvContainer != NULL ) \
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355 uxListRemove( &( pxTCB->xEventListItem ) ); \
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357 prvAddTaskToReadyQueue( pxTCB ); \
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362 /*-----------------------------------------------------------*/
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365 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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366 * where NULL is used to indicate that the handle of the currently executing
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367 * task should be used in place of the parameter. This macro simply checks to
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368 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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370 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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372 /* Callback function prototypes. --------------------------*/
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373 extern void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName );
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374 extern void vApplicationTickHook( void );
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376 /* File private functions. --------------------------------*/
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379 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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380 * into the TCB structure.
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382 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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385 * Utility to ready all the lists used by the scheduler. This is called
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386 * automatically upon the creation of the first task.
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388 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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391 * The idle task, which as all tasks is implemented as a never ending loop.
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392 * The idle task is automatically created and added to the ready lists upon
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393 * creation of the first user task.
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395 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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396 * language extensions. The equivalent prototype for this function is:
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398 * void prvIdleTask( void *pvParameters );
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401 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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404 * Utility to free all memory allocated by the scheduler to hold a TCB,
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405 * including the stack pointed to by the TCB.
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407 * This does not free memory allocated by the task itself (i.e. memory
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408 * allocated by calls to pvPortMalloc from within the tasks application code).
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410 #if ( INCLUDE_vTaskDelete == 1 )
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412 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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417 * Used only by the idle task. This checks to see if anything has been placed
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418 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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419 * and its TCB deleted.
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421 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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424 * The currently executing task is entering the Blocked state. Add the task to
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425 * either the current or the overflow delayed task list.
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427 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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430 * Allocates memory from the heap for a TCB and associated stack. Checks the
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431 * allocation was successful.
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433 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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436 * Called from vTaskList. vListTasks details all the tasks currently under
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437 * control of the scheduler. The tasks may be in one of a number of lists.
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438 * prvListTaskWithinSingleList accepts a list and details the tasks from
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439 * within just that list.
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441 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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442 * NORMAL APPLICATION CODE.
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444 #if ( configUSE_TRACE_FACILITY == 1 )
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446 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
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451 * When a task is created, the stack of the task is filled with a known value.
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452 * This function determines the 'high water mark' of the task stack by
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453 * determining how much of the stack remains at the original preset value.
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455 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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457 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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466 /*-----------------------------------------------------------
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467 * TASK CREATION API documented in task.h
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468 *----------------------------------------------------------*/
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470 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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472 signed portBASE_TYPE xReturn;
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475 configASSERT( pxTaskCode );
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476 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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478 /* Allocate the memory required by the TCB and stack for the new task,
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479 checking that the allocation was successful. */
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480 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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482 if( pxNewTCB != NULL )
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484 portSTACK_TYPE *pxTopOfStack;
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486 #if( portUSING_MPU_WRAPPERS == 1 )
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487 /* Should the task be created in privileged mode? */
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488 portBASE_TYPE xRunPrivileged;
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489 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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491 xRunPrivileged = pdTRUE;
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495 xRunPrivileged = pdFALSE;
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497 uxPriority &= ~portPRIVILEGE_BIT;
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498 #endif /* portUSING_MPU_WRAPPERS == 1 */
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500 /* Calculate the top of stack address. This depends on whether the
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501 stack grows from high memory to low (as per the 80x86) or visa versa.
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502 portSTACK_GROWTH is used to make the result positive or negative as
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503 required by the port. */
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504 #if( portSTACK_GROWTH < 0 )
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506 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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507 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
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509 /* Check the alignment of the calculated top of stack is correct. */
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510 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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514 pxTopOfStack = pxNewTCB->pxStack;
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516 /* Check the alignment of the stack buffer is correct. */
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517 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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519 /* If we want to use stack checking on architectures that use
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520 a positive stack growth direction then we also need to store the
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521 other extreme of the stack space. */
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522 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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526 /* Setup the newly allocated TCB with the initial state of the task. */
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527 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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529 /* Initialize the TCB stack to look as if the task was already running,
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530 but had been interrupted by the scheduler. The return address is set
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531 to the start of the task function. Once the stack has been initialised
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532 the top of stack variable is updated. */
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533 #if( portUSING_MPU_WRAPPERS == 1 )
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535 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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539 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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543 /* Check the alignment of the initialised stack. */
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544 portALIGNMENT_ASSERT_pxCurrentTCB( ( ( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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546 if( ( void * ) pxCreatedTask != NULL )
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548 /* Pass the TCB out - in an anonymous way. The calling function/
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549 task can use this as a handle to delete the task later if
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551 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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554 /* We are going to manipulate the task queues to add this task to a
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555 ready list, so must make sure no interrupts occur. */
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556 taskENTER_CRITICAL();
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558 uxCurrentNumberOfTasks++;
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559 if( pxCurrentTCB == NULL )
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561 /* There are no other tasks, or all the other tasks are in
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562 the suspended state - make this the current task. */
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563 pxCurrentTCB = pxNewTCB;
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565 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
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567 /* This is the first task to be created so do the preliminary
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568 initialisation required. We will not recover if this call
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569 fails, but we will report the failure. */
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570 prvInitialiseTaskLists();
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575 /* If the scheduler is not already running, make this task the
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576 current task if it is the highest priority task to be created
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578 if( xSchedulerRunning == pdFALSE )
\r
580 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
582 pxCurrentTCB = pxNewTCB;
\r
587 /* Remember the top priority to make context switching faster. Use
\r
588 the priority in pxNewTCB as this has been capped to a valid value. */
\r
589 if( pxNewTCB->uxPriority > uxTopUsedPriority )
\r
591 uxTopUsedPriority = pxNewTCB->uxPriority;
\r
594 #if ( configUSE_TRACE_FACILITY == 1 )
\r
596 /* Add a counter into the TCB for tracing only. */
\r
597 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
602 prvAddTaskToReadyQueue( pxNewTCB );
\r
605 portSETUP_TCB( pxNewTCB );
\r
606 traceTASK_CREATE( pxNewTCB );
\r
608 taskEXIT_CRITICAL();
\r
612 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
613 traceTASK_CREATE_FAILED();
\r
616 if( xReturn == pdPASS )
\r
618 if( xSchedulerRunning != pdFALSE )
\r
620 /* If the created task is of a higher priority than the current task
\r
621 then it should run now. */
\r
622 if( pxCurrentTCB->uxPriority < uxPriority )
\r
624 portYIELD_WITHIN_API();
\r
631 /*-----------------------------------------------------------*/
\r
633 #if ( INCLUDE_vTaskDelete == 1 )
\r
635 void vTaskDelete( xTaskHandle pxTaskToDelete )
\r
639 taskENTER_CRITICAL();
\r
641 /* Ensure a yield is performed if the current task is being
\r
643 if( pxTaskToDelete == pxCurrentTCB )
\r
645 pxTaskToDelete = NULL;
\r
648 /* If null is passed in here then we are deleting ourselves. */
\r
649 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
\r
651 /* Remove task from the ready list and place in the termination list.
\r
652 This will stop the task from be scheduled. The idle task will check
\r
653 the termination list and free up any memory allocated by the
\r
654 scheduler for the TCB and stack. */
\r
655 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
657 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
660 /* Is the task waiting on an event also? */
\r
661 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
663 uxListRemove( &( pxTCB->xEventListItem ) );
\r
666 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
668 /* Increment the ucTasksDeleted variable so the idle task knows
\r
669 there is a task that has been deleted and that it should therefore
\r
670 check the xTasksWaitingTermination list. */
\r
673 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
674 can detect that the task lists need re-generating. */
\r
677 traceTASK_DELETE( pxTCB );
\r
679 taskEXIT_CRITICAL();
\r
681 /* Force a reschedule if we have just deleted the current task. */
\r
682 if( xSchedulerRunning != pdFALSE )
\r
684 if( ( void * ) pxTaskToDelete == NULL )
\r
686 portYIELD_WITHIN_API();
\r
698 /*-----------------------------------------------------------
\r
699 * TASK CONTROL API documented in task.h
\r
700 *----------------------------------------------------------*/
\r
702 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
704 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
706 portTickType xTimeToWake;
\r
707 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
709 configASSERT( pxPreviousWakeTime );
\r
710 configASSERT( ( xTimeIncrement > 0U ) );
\r
714 /* Generate the tick time at which the task wants to wake. */
\r
715 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
717 if( xTickCount < *pxPreviousWakeTime )
\r
719 /* The tick count has overflowed since this function was
\r
720 lasted called. In this case the only time we should ever
\r
721 actually delay is if the wake time has also overflowed,
\r
722 and the wake time is greater than the tick time. When this
\r
723 is the case it is as if neither time had overflowed. */
\r
724 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
726 xShouldDelay = pdTRUE;
\r
731 /* The tick time has not overflowed. In this case we will
\r
732 delay if either the wake time has overflowed, and/or the
\r
733 tick time is less than the wake time. */
\r
734 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
736 xShouldDelay = pdTRUE;
\r
740 /* Update the wake time ready for the next call. */
\r
741 *pxPreviousWakeTime = xTimeToWake;
\r
743 if( xShouldDelay != pdFALSE )
\r
745 traceTASK_DELAY_UNTIL();
\r
747 /* We must remove ourselves from the ready list before adding
\r
748 ourselves to the blocked list as the same list item is used for
\r
750 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
752 /* The current task must be in a ready list, so there is
\r
753 no need to check, and the port reset macro can be called
\r
755 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
758 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
761 xAlreadyYielded = xTaskResumeAll();
\r
763 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
764 have put ourselves to sleep. */
\r
765 if( xAlreadyYielded == pdFALSE )
\r
767 portYIELD_WITHIN_API();
\r
772 /*-----------------------------------------------------------*/
\r
774 #if ( INCLUDE_vTaskDelay == 1 )
\r
776 void vTaskDelay( portTickType xTicksToDelay )
\r
778 portTickType xTimeToWake;
\r
779 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
781 /* A delay time of zero just forces a reschedule. */
\r
782 if( xTicksToDelay > ( portTickType ) 0U )
\r
788 /* A task that is removed from the event list while the
\r
789 scheduler is suspended will not get placed in the ready
\r
790 list or removed from the blocked list until the scheduler
\r
793 This task cannot be in an event list as it is the currently
\r
796 /* Calculate the time to wake - this may overflow but this is
\r
798 xTimeToWake = xTickCount + xTicksToDelay;
\r
800 /* We must remove ourselves from the ready list before adding
\r
801 ourselves to the blocked list as the same list item is used for
\r
803 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
805 /* The current task must be in a ready list, so there is
\r
806 no need to check, and the port reset macro can be called
\r
808 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
810 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
812 xAlreadyYielded = xTaskResumeAll();
\r
815 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
816 have put ourselves to sleep. */
\r
817 if( xAlreadyYielded == pdFALSE )
\r
819 portYIELD_WITHIN_API();
\r
824 /*-----------------------------------------------------------*/
\r
826 #if ( INCLUDE_eTaskStateGet == 1 )
\r
828 eTaskState eTaskStateGet( xTaskHandle pxTask )
\r
830 eTaskState eReturn;
\r
831 xList *pxStateList;
\r
834 pxTCB = ( tskTCB * ) pxTask;
\r
836 if( pxTCB == pxCurrentTCB )
\r
838 /* The task calling this function is querying its own state. */
\r
839 eReturn = eRunning;
\r
843 taskENTER_CRITICAL();
\r
845 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
847 taskEXIT_CRITICAL();
\r
849 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
851 /* The task being queried is referenced from one of the Blocked
\r
853 eReturn = eBlocked;
\r
856 #if ( INCLUDE_vTaskSuspend == 1 )
\r
857 else if( pxStateList == &xSuspendedTaskList )
\r
859 /* The task being queried is referenced from the suspended
\r
861 eReturn = eSuspended;
\r
865 #if ( INCLUDE_vTaskDelete == 1 )
\r
866 else if( pxStateList == &xTasksWaitingTermination )
\r
868 /* The task being queried is referenced from the deleted
\r
870 eReturn = eDeleted;
\r
876 /* If the task is not in any other state, it must be in the
\r
877 Ready (including pending ready) state. */
\r
886 /*-----------------------------------------------------------*/
\r
888 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
890 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
893 unsigned portBASE_TYPE uxReturn;
\r
895 taskENTER_CRITICAL();
\r
897 /* If null is passed in here then we are changing the
\r
898 priority of the calling function. */
\r
899 pxTCB = prvGetTCBFromHandle( pxTask );
\r
900 uxReturn = pxTCB->uxPriority;
\r
902 taskEXIT_CRITICAL();
\r
908 /*-----------------------------------------------------------*/
\r
910 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
912 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
915 unsigned portBASE_TYPE uxCurrentPriority, uxPriorityUsedOnEntry;
\r
916 portBASE_TYPE xYieldRequired = pdFALSE;
\r
918 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
920 /* Ensure the new priority is valid. */
\r
921 if( uxNewPriority >= configMAX_PRIORITIES )
\r
923 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
926 taskENTER_CRITICAL();
\r
928 if( pxTask == pxCurrentTCB )
\r
933 /* If null is passed in here then we are changing the
\r
934 priority of the calling function. */
\r
935 pxTCB = prvGetTCBFromHandle( pxTask );
\r
937 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
939 #if ( configUSE_MUTEXES == 1 )
\r
941 uxCurrentPriority = pxTCB->uxBasePriority;
\r
945 uxCurrentPriority = pxTCB->uxPriority;
\r
949 if( uxCurrentPriority != uxNewPriority )
\r
951 /* The priority change may have readied a task of higher
\r
952 priority than the calling task. */
\r
953 if( uxNewPriority > uxCurrentPriority )
\r
955 if( pxTask != NULL )
\r
957 /* The priority of another task is being raised. If we
\r
958 were raising the priority of the currently running task
\r
959 there would be no need to switch as it must have already
\r
960 been the highest priority task. */
\r
961 xYieldRequired = pdTRUE;
\r
964 else if( pxTask == NULL )
\r
966 /* Setting our own priority down means there may now be another
\r
967 task of higher priority that is ready to execute. */
\r
968 xYieldRequired = pdTRUE;
\r
971 /* Remember the ready list the task might be referenced from
\r
972 before its uxPriority member is changed so the
\r
973 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
974 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
976 #if ( configUSE_MUTEXES == 1 )
\r
978 /* Only change the priority being used if the task is not
\r
979 currently using an inherited priority. */
\r
980 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
982 pxTCB->uxPriority = uxNewPriority;
\r
985 /* The base priority gets set whatever. */
\r
986 pxTCB->uxBasePriority = uxNewPriority;
\r
990 pxTCB->uxPriority = uxNewPriority;
\r
994 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
996 /* If the task is in the blocked or suspended list we need do
\r
997 nothing more than change it's priority variable. However, if
\r
998 the task is in a ready list it needs to be removed and placed
\r
999 in the queue appropriate to its new priority. */
\r
1000 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
1002 /* The task is currently in its ready list - remove before adding
\r
1003 it to it's new ready list. As we are in a critical section we
\r
1004 can do this even if the scheduler is suspended. */
\r
1005 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1007 taskRESET_READY_PRIORITY( uxPriorityUsedOnEntry );
\r
1009 prvAddTaskToReadyQueue( pxTCB );
\r
1012 if( xYieldRequired == pdTRUE )
\r
1014 portYIELD_WITHIN_API();
\r
1018 taskEXIT_CRITICAL();
\r
1020 /* Remove compiler warning about unused parameter when the port
\r
1021 optimised task selection is not being used. */
\r
1022 ( void ) uxPriorityUsedOnEntry;
\r
1026 /*-----------------------------------------------------------*/
\r
1028 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1030 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
1034 taskENTER_CRITICAL();
\r
1036 /* Ensure a yield is performed if the current task is being
\r
1038 if( pxTaskToSuspend == pxCurrentTCB )
\r
1040 pxTaskToSuspend = NULL;
\r
1043 /* If null is passed in here then we are suspending ourselves. */
\r
1044 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
1046 traceTASK_SUSPEND( pxTCB );
\r
1048 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
1049 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1051 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1054 /* Is the task waiting on an event also? */
\r
1055 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
1057 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1060 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1062 taskEXIT_CRITICAL();
\r
1064 if( ( void * ) pxTaskToSuspend == NULL )
\r
1066 if( xSchedulerRunning != pdFALSE )
\r
1068 /* We have just suspended the current task. */
\r
1069 portYIELD_WITHIN_API();
\r
1073 /* The scheduler is not running, but the task that was pointed
\r
1074 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1075 must be adjusted to point to a different task. */
\r
1076 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1078 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1079 NULL so when the next task is created pxCurrentTCB will
\r
1080 be set to point to it no matter what its relative priority
\r
1082 pxCurrentTCB = NULL;
\r
1086 vTaskSwitchContext();
\r
1093 /*-----------------------------------------------------------*/
\r
1095 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1097 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
1099 portBASE_TYPE xReturn = pdFALSE;
\r
1100 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1102 /* It does not make sense to check if the calling task is suspended. */
\r
1103 configASSERT( xTask );
\r
1105 /* Is the task we are attempting to resume actually in the
\r
1106 suspended list? */
\r
1107 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1109 /* Has the task already been resumed from within an ISR? */
\r
1110 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
1112 /* Is it in the suspended list because it is in the
\r
1113 Suspended state? It is possible to be in the suspended
\r
1114 list because it is blocked on a task with no timeout
\r
1116 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
1127 /*-----------------------------------------------------------*/
\r
1129 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1131 void vTaskResume( xTaskHandle pxTaskToResume )
\r
1135 /* It does not make sense to resume the calling task. */
\r
1136 configASSERT( pxTaskToResume );
\r
1138 /* Remove the task from whichever list it is currently in, and place
\r
1139 it in the ready list. */
\r
1140 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1142 /* The parameter cannot be NULL as it is impossible to resume the
\r
1143 currently executing task. */
\r
1144 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1146 taskENTER_CRITICAL();
\r
1148 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1150 traceTASK_RESUME( pxTCB );
\r
1152 /* As we are in a critical section we can access the ready
\r
1153 lists even if the scheduler is suspended. */
\r
1154 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1155 prvAddTaskToReadyQueue( pxTCB );
\r
1157 /* We may have just resumed a higher priority task. */
\r
1158 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1160 /* This yield may not cause the task just resumed to run, but
\r
1161 will leave the lists in the correct state for the next yield. */
\r
1162 portYIELD_WITHIN_API();
\r
1166 taskEXIT_CRITICAL();
\r
1172 /*-----------------------------------------------------------*/
\r
1174 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1176 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
1178 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1180 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1182 configASSERT( pxTaskToResume );
\r
1184 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1186 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1188 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1190 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1192 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1194 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1195 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1196 prvAddTaskToReadyQueue( pxTCB );
\r
1200 /* We cannot access the delayed or ready lists, so will hold this
\r
1201 task pending until the scheduler is resumed, at which point a
\r
1202 yield will be performed if necessary. */
\r
1203 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1207 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1209 return xYieldRequired;
\r
1217 /*-----------------------------------------------------------
\r
1218 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1219 *----------------------------------------------------------*/
\r
1222 void vTaskStartScheduler( void )
\r
1224 portBASE_TYPE xReturn;
\r
1226 /* Add the idle task at the lowest priority. */
\r
1227 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1229 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1230 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1231 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );
\r
1235 /* Create the idle task without storing its handle. */
\r
1236 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
\r
1240 #if ( configUSE_TIMERS == 1 )
\r
1242 if( xReturn == pdPASS )
\r
1244 xReturn = xTimerCreateTimerTask();
\r
1249 if( xReturn == pdPASS )
\r
1251 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1252 before or during the call to xPortStartScheduler(). The stacks of
\r
1253 the created tasks contain a status word with interrupts switched on
\r
1254 so interrupts will automatically get re-enabled when the first task
\r
1257 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1258 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1259 portDISABLE_INTERRUPTS();
\r
1261 xSchedulerRunning = pdTRUE;
\r
1262 xTickCount = ( portTickType ) 0U;
\r
1264 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1265 macro must be defined to configure the timer/counter used to generate
\r
1266 the run time counter time base. */
\r
1267 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1269 /* Setting up the timer tick is hardware specific and thus in the
\r
1270 portable interface. */
\r
1271 if( xPortStartScheduler() != pdFALSE )
\r
1273 /* Should not reach here as if the scheduler is running the
\r
1274 function will not return. */
\r
1278 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1282 /* This line will only be reached if the kernel could not be started. */
\r
1283 configASSERT( xReturn );
\r
1285 /*-----------------------------------------------------------*/
\r
1287 void vTaskEndScheduler( void )
\r
1289 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1290 routine so the original ISRs can be restored if necessary. The port
\r
1291 layer must ensure interrupts enable bit is left in the correct state. */
\r
1292 portDISABLE_INTERRUPTS();
\r
1293 xSchedulerRunning = pdFALSE;
\r
1294 vPortEndScheduler();
\r
1296 /*----------------------------------------------------------*/
\r
1298 void vTaskSuspendAll( void )
\r
1300 /* A critical section is not required as the variable is of type
\r
1302 ++uxSchedulerSuspended;
\r
1304 /*----------------------------------------------------------*/
\r
1306 portTickType xTaskGetExpectedIdleTime( void )
\r
1308 portTickType xReturn;
\r
1310 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1314 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1316 /* There are other idle priority tasks in the ready state. If
\r
1317 time slicing is used then the very next tick interrupt must be
\r
1323 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1328 /*----------------------------------------------------------*/
\r
1330 signed portBASE_TYPE xTaskResumeAll( void )
\r
1332 register tskTCB *pxTCB;
\r
1333 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1335 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1336 previous call to vTaskSuspendAll(). */
\r
1337 configASSERT( uxSchedulerSuspended );
\r
1339 /* It is possible that an ISR caused a task to be removed from an event
\r
1340 list while the scheduler was suspended. If this was the case then the
\r
1341 removed task will have been added to the xPendingReadyList. Once the
\r
1342 scheduler has been resumed it is safe to move all the pending ready
\r
1343 tasks from this list into their appropriate ready list. */
\r
1344 taskENTER_CRITICAL();
\r
1346 --uxSchedulerSuspended;
\r
1348 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1350 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1352 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1354 /* Move any readied tasks from the pending list into the
\r
1355 appropriate ready list. */
\r
1356 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1358 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1359 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1360 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1361 prvAddTaskToReadyQueue( pxTCB );
\r
1363 /* If we have moved a task that has a priority higher than
\r
1364 the current task then we should yield. */
\r
1365 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1367 xYieldRequired = pdTRUE;
\r
1371 /* If any ticks occurred while the scheduler was suspended then
\r
1372 they should be processed now. This ensures the tick count does not
\r
1373 slip, and that any delayed tasks are resumed at the correct time. */
\r
1374 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1376 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1378 vTaskIncrementTick();
\r
1382 /* As we have processed some ticks it is appropriate to yield
\r
1383 to ensure the highest priority task that is ready to run is
\r
1384 the task actually running. */
\r
1385 #if configUSE_PREEMPTION == 1
\r
1387 xYieldRequired = pdTRUE;
\r
1392 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1394 xAlreadyYielded = pdTRUE;
\r
1395 xMissedYield = pdFALSE;
\r
1396 portYIELD_WITHIN_API();
\r
1401 taskEXIT_CRITICAL();
\r
1403 return xAlreadyYielded;
\r
1411 /*-----------------------------------------------------------
\r
1412 * PUBLIC TASK UTILITIES documented in task.h
\r
1413 *----------------------------------------------------------*/
\r
1417 portTickType xTaskGetTickCount( void )
\r
1419 portTickType xTicks;
\r
1421 /* Critical section required if running on a 16 bit processor. */
\r
1422 taskENTER_CRITICAL();
\r
1424 xTicks = xTickCount;
\r
1426 taskEXIT_CRITICAL();
\r
1430 /*-----------------------------------------------------------*/
\r
1432 portTickType xTaskGetTickCountFromISR( void )
\r
1434 portTickType xReturn;
\r
1435 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1437 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1438 xReturn = xTickCount;
\r
1439 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1443 /*-----------------------------------------------------------*/
\r
1445 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1447 /* A critical section is not required because the variables are of type
\r
1449 return uxCurrentNumberOfTasks;
\r
1451 /*-----------------------------------------------------------*/
\r
1453 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1455 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1459 /* If null is passed in here then the name of the calling task is being queried. */
\r
1460 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1461 configASSERT( pxTCB );
\r
1462 return &( pxTCB->pcTaskName[ 0 ] );
\r
1466 /*-----------------------------------------------------------*/
\r
1468 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1470 void vTaskList( signed char *pcWriteBuffer )
\r
1472 unsigned portBASE_TYPE uxQueue;
\r
1474 /* This is a VERY costly function that should be used for debug only.
\r
1475 It leaves interrupts disabled for a LONG time. */
\r
1477 vTaskSuspendAll();
\r
1479 /* Run through all the lists that could potentially contain a TCB and
\r
1480 report the task name, state and stack high water mark. */
\r
1482 *pcWriteBuffer = ( signed char ) 0x00;
\r
1483 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1485 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1491 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1493 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1495 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1497 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1499 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1502 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1504 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1507 #if( INCLUDE_vTaskDelete == 1 )
\r
1509 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1511 prvListTaskWithinSingleList( pcWriteBuffer, &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1516 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1518 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1520 prvListTaskWithinSingleList( pcWriteBuffer, &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1529 /*----------------------------------------------------------*/
\r
1531 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1533 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1535 unsigned portBASE_TYPE uxQueue;
\r
1536 unsigned long ulTotalRunTime;
\r
1538 /* This is a VERY costly function that should be used for debug only.
\r
1539 It leaves interrupts disabled for a LONG time. */
\r
1541 vTaskSuspendAll();
\r
1543 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1544 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1546 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1549 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1550 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1551 ulTotalRunTime /= 100UL;
\r
1553 /* Run through all the lists that could potentially contain a TCB,
\r
1554 generating a table of run timer percentages in the provided
\r
1557 *pcWriteBuffer = ( signed char ) 0x00;
\r
1558 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1560 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1566 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1568 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
\r
1570 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1572 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1574 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
\r
1577 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1579 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
\r
1582 #if ( INCLUDE_vTaskDelete == 1 )
\r
1584 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1586 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTime );
\r
1591 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1593 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1595 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTime );
\r
1604 /*----------------------------------------------------------*/
\r
1606 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1608 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1610 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1611 started, then xIdleTaskHandle will be NULL. */
\r
1612 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1613 return xIdleTaskHandle;
\r
1617 /*----------------------------------------------------------*/
\r
1619 void vTaskStepTick( portTickType xTicksToJump )
\r
1621 configASSERT( xTicksToJump <= xNextTaskUnblockTime );
\r
1622 xTickCount += xTicksToJump;
\r
1625 /*-----------------------------------------------------------
\r
1626 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1627 * documented in task.h
\r
1628 *----------------------------------------------------------*/
\r
1630 void vTaskIncrementTick( void )
\r
1634 /* Called by the portable layer each time a tick interrupt occurs.
\r
1635 Increments the tick then checks to see if the new tick value will cause any
\r
1636 tasks to be unblocked. */
\r
1637 traceTASK_INCREMENT_TICK( xTickCount );
\r
1638 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1641 if( xTickCount == ( portTickType ) 0U )
\r
1645 /* Tick count has overflowed so we need to swap the delay lists.
\r
1646 If there are any items in pxDelayedTaskList here then there is
\r
1648 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );
\r
1650 pxTemp = pxDelayedTaskList;
\r
1651 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1652 pxOverflowDelayedTaskList = pxTemp;
\r
1653 xNumOfOverflows++;
\r
1655 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1657 /* The new current delayed list is empty. Set
\r
1658 xNextTaskUnblockTime to the maximum possible value so it is
\r
1659 extremely unlikely that the
\r
1660 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
1661 there is an item in the delayed list. */
\r
1662 xNextTaskUnblockTime = portMAX_DELAY;
\r
1666 /* The new current delayed list is not empty, get the value of
\r
1667 the item at the head of the delayed list. This is the time at
\r
1668 which the task at the head of the delayed list should be removed
\r
1669 from the Blocked state. */
\r
1670 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1671 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1675 /* See if this tick has made a timeout expire. */
\r
1676 prvCheckDelayedTasks();
\r
1682 /* The tick hook gets called at regular intervals, even if the
\r
1683 scheduler is locked. */
\r
1684 #if ( configUSE_TICK_HOOK == 1 )
\r
1686 vApplicationTickHook();
\r
1691 #if ( configUSE_TICK_HOOK == 1 )
\r
1693 /* Guard against the tick hook being called when the missed tick
\r
1694 count is being unwound (when the scheduler is being unlocked. */
\r
1695 if( uxMissedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1697 vApplicationTickHook();
\r
1702 /*-----------------------------------------------------------*/
\r
1704 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1706 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1710 /* If xTask is NULL then we are setting our own task hook. */
\r
1711 if( xTask == NULL )
\r
1713 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1717 xTCB = ( tskTCB * ) xTask;
\r
1720 /* Save the hook function in the TCB. A critical section is required as
\r
1721 the value can be accessed from an interrupt. */
\r
1722 taskENTER_CRITICAL();
\r
1723 xTCB->pxTaskTag = pxHookFunction;
\r
1724 taskEXIT_CRITICAL();
\r
1728 /*-----------------------------------------------------------*/
\r
1730 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1732 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1735 pdTASK_HOOK_CODE xReturn;
\r
1737 /* If xTask is NULL then we are setting our own task hook. */
\r
1738 if( xTask == NULL )
\r
1740 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1744 xTCB = ( tskTCB * ) xTask;
\r
1747 /* Save the hook function in the TCB. A critical section is required as
\r
1748 the value can be accessed from an interrupt. */
\r
1749 taskENTER_CRITICAL();
\r
1750 xReturn = xTCB->pxTaskTag;
\r
1751 taskEXIT_CRITICAL();
\r
1757 /*-----------------------------------------------------------*/
\r
1759 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1761 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1764 portBASE_TYPE xReturn;
\r
1766 /* If xTask is NULL then we are calling our own task hook. */
\r
1767 if( xTask == NULL )
\r
1769 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1773 xTCB = ( tskTCB * ) xTask;
\r
1776 if( xTCB->pxTaskTag != NULL )
\r
1778 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1789 /*-----------------------------------------------------------*/
\r
1791 void vTaskSwitchContext( void )
\r
1793 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1795 /* The scheduler is currently suspended - do not allow a context
\r
1797 xMissedYield = pdTRUE;
\r
1801 traceTASK_SWITCHED_OUT();
\r
1803 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1805 unsigned long ulTempCounter;
\r
1807 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1808 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter );
\r
1810 ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
\r
1813 /* Add the amount of time the task has been running to the accumulated
\r
1814 time so far. The time the task started running was stored in
\r
1815 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1816 so count values are only valid until the timer overflows. Generally
\r
1817 this will be about 1 hour assuming a 1uS timer increment. */
\r
1818 pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
\r
1819 ulTaskSwitchedInTime = ulTempCounter;
\r
1823 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1824 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1826 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
1828 traceTASK_SWITCHED_IN();
\r
1831 /*-----------------------------------------------------------*/
\r
1833 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1835 portTickType xTimeToWake;
\r
1837 configASSERT( pxEventList );
\r
1839 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1840 SCHEDULER SUSPENDED. */
\r
1842 /* Place the event list item of the TCB in the appropriate event list.
\r
1843 This is placed in the list in priority order so the highest priority task
\r
1844 is the first to be woken by the event. */
\r
1845 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1847 /* We must remove ourselves from the ready list before adding ourselves
\r
1848 to the blocked list as the same list item is used for both lists. We have
\r
1849 exclusive access to the ready lists as the scheduler is locked. */
\r
1850 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1852 /* The current task must be in a ready list, so there is no need to
\r
1853 check, and the port reset macro can be called directly. */
\r
1854 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1857 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1859 if( xTicksToWait == portMAX_DELAY )
\r
1861 /* Add ourselves to the suspended task list instead of a delayed task
\r
1862 list to ensure we are not woken by a timing event. We will block
\r
1864 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1868 /* Calculate the time at which the task should be woken if the event does
\r
1869 not occur. This may overflow but this doesn't matter. */
\r
1870 xTimeToWake = xTickCount + xTicksToWait;
\r
1871 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1876 /* Calculate the time at which the task should be woken if the event does
\r
1877 not occur. This may overflow but this doesn't matter. */
\r
1878 xTimeToWake = xTickCount + xTicksToWait;
\r
1879 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1883 /*-----------------------------------------------------------*/
\r
1885 #if configUSE_TIMERS == 1
\r
1887 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1889 portTickType xTimeToWake;
\r
1891 configASSERT( pxEventList );
\r
1893 /* This function should not be called by application code hence the
\r
1894 'Restricted' in its name. It is not part of the public API. It is
\r
1895 designed for use by kernel code, and has special calling requirements -
\r
1896 it should be called from a critical section. */
\r
1899 /* Place the event list item of the TCB in the appropriate event list.
\r
1900 In this case it is assume that this is the only task that is going to
\r
1901 be waiting on this event list, so the faster vListInsertEnd() function
\r
1902 can be used in place of vListInsert. */
\r
1903 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1905 /* We must remove this task from the ready list before adding it to the
\r
1906 blocked list as the same list item is used for both lists. This
\r
1907 function is called form a critical section. */
\r
1908 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1910 /* The current task must be in a ready list, so there is no need to
\r
1911 check, and the port reset macro can be called directly. */
\r
1912 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1915 /* Calculate the time at which the task should be woken if the event does
\r
1916 not occur. This may overflow but this doesn't matter. */
\r
1917 xTimeToWake = xTickCount + xTicksToWait;
\r
1918 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1921 #endif /* configUSE_TIMERS */
\r
1922 /*-----------------------------------------------------------*/
\r
1924 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1926 tskTCB *pxUnblockedTCB;
\r
1927 portBASE_TYPE xReturn;
\r
1929 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1930 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1932 /* The event list is sorted in priority order, so we can remove the
\r
1933 first in the list, remove the TCB from the delayed list, and add
\r
1934 it to the ready list.
\r
1936 If an event is for a queue that is locked then this function will never
\r
1937 get called - the lock count on the queue will get modified instead. This
\r
1938 means we can always expect exclusive access to the event list here.
\r
1940 This function assumes that a check has already been made to ensure that
\r
1941 pxEventList is not empty. */
\r
1942 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1943 configASSERT( pxUnblockedTCB );
\r
1944 uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1946 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1948 uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1949 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1953 /* We cannot access the delayed or ready lists, so will hold this
\r
1954 task pending until the scheduler is resumed. */
\r
1955 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1958 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1960 /* Return true if the task removed from the event list has
\r
1961 a higher priority than the calling task. This allows
\r
1962 the calling task to know if it should force a context
\r
1968 xReturn = pdFALSE;
\r
1973 /*-----------------------------------------------------------*/
\r
1975 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1977 configASSERT( pxTimeOut );
\r
1978 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1979 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1981 /*-----------------------------------------------------------*/
\r
1983 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
1985 portBASE_TYPE xReturn;
\r
1987 configASSERT( pxTimeOut );
\r
1988 configASSERT( pxTicksToWait );
\r
1990 taskENTER_CRITICAL();
\r
1992 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1993 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
1994 the maximum block time then the task should block indefinitely, and
\r
1995 therefore never time out. */
\r
1996 if( *pxTicksToWait == portMAX_DELAY )
\r
1998 xReturn = pdFALSE;
\r
2000 else /* We are not blocking indefinitely, perform the checks below. */
\r
2003 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
2005 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2006 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2007 It must have wrapped all the way around and gone past us again. This
\r
2008 passed since vTaskSetTimeout() was called. */
\r
2011 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
2013 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2014 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
2015 vTaskSetTimeOutState( pxTimeOut );
\r
2016 xReturn = pdFALSE;
\r
2023 taskEXIT_CRITICAL();
\r
2027 /*-----------------------------------------------------------*/
\r
2029 void vTaskMissedYield( void )
\r
2031 xMissedYield = pdTRUE;
\r
2033 /*-----------------------------------------------------------*/
\r
2035 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2036 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
2038 unsigned portBASE_TYPE uxReturn;
\r
2041 if( xTask != NULL )
\r
2043 pxTCB = ( tskTCB * ) xTask;
\r
2044 uxReturn = pxTCB->uxTaskNumber;
\r
2054 /*-----------------------------------------------------------*/
\r
2056 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2057 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
2061 if( xTask != NULL )
\r
2063 pxTCB = ( tskTCB * ) xTask;
\r
2064 pxTCB->uxTaskNumber = uxHandle;
\r
2071 * -----------------------------------------------------------
\r
2073 * ----------------------------------------------------------
\r
2075 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2076 * language extensions. The equivalent prototype for this function is:
\r
2078 * void prvIdleTask( void *pvParameters );
\r
2081 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2083 /* Stop warnings. */
\r
2084 ( void ) pvParameters;
\r
2088 /* See if any tasks have been deleted. */
\r
2089 prvCheckTasksWaitingTermination();
\r
2091 #if ( configUSE_PREEMPTION == 0 )
\r
2093 /* If we are not using preemption we keep forcing a task switch to
\r
2094 see if any other task has become available. If we are using
\r
2095 preemption we don't need to do this as any task becoming available
\r
2096 will automatically get the processor anyway. */
\r
2101 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2103 /* When using preemption tasks of equal priority will be
\r
2104 timesliced. If a task that is sharing the idle priority is ready
\r
2105 to run then the idle task should yield before the end of the
\r
2108 A critical region is not required here as we are just reading from
\r
2109 the list, and an occasional incorrect value will not matter. If
\r
2110 the ready list at the idle priority contains more than one task
\r
2111 then a task other than the idle task is ready to execute. */
\r
2112 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2119 #if ( configUSE_IDLE_HOOK == 1 )
\r
2121 extern void vApplicationIdleHook( void );
\r
2123 /* Call the user defined function from within the idle task. This
\r
2124 allows the application designer to add background functionality
\r
2125 without the overhead of a separate task.
\r
2126 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2127 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2128 vApplicationIdleHook();
\r
2132 #if ( configUSE_TICKLESS_IDLE == 1 )
\r
2134 portTickType xExpectedIdleTime;
\r
2135 /* If the expected idle time is 1 then the idle time would end at
\r
2136 the end of the current time slice. The idle time must be at least
\r
2137 2 to ensure any pended ticks between this point and the tick being
\r
2138 stopped can be legitimately stepped over when the tick suppression
\r
2139 routines returns. */
\r
2140 const portTickType xMinimumExpectedIdleTime = ( portTickType ) 2;
\r
2142 /* Don't enter low power if there are still tasks waiting
\r
2144 if( uxTasksDeleted == 0 )
\r
2146 /* It is not desirable to suspend then resume the scheduler on
\r
2147 each iteration of the idle task. Therefore, a preliminary
\r
2148 test of the expected idle time is performed without the
\r
2149 scheduler suspended. The result here is not necessarily
\r
2151 xExpectedIdleTime = xTaskGetExpectedIdleTime();
\r
2153 if( xExpectedIdleTime >= xMinimumExpectedIdleTime )
\r
2155 vTaskSuspendAll();
\r
2157 /* Now the scheduler is suspended, the expected idle
\r
2158 time can be sampled again, and this time its value can
\r
2160 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2161 xExpectedIdleTime = xTaskGetExpectedIdleTime();
\r
2163 if( xExpectedIdleTime >= xMinimumExpectedIdleTime )
\r
2165 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2174 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
2182 /*-----------------------------------------------------------
\r
2183 * File private functions documented at the top of the file.
\r
2184 *----------------------------------------------------------*/
\r
2188 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2190 /* Store the function name in the TCB. */
\r
2191 #if configMAX_TASK_NAME_LEN > 1
\r
2193 /* Don't bring strncpy into the build unnecessarily. */
\r
2194 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
2197 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
\r
2199 /* This is used as an array index so must ensure it's not too large. First
\r
2200 remove the privilege bit if one is present. */
\r
2201 if( uxPriority >= configMAX_PRIORITIES )
\r
2203 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2206 pxTCB->uxPriority = uxPriority;
\r
2207 #if ( configUSE_MUTEXES == 1 )
\r
2209 pxTCB->uxBasePriority = uxPriority;
\r
2213 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2214 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2216 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2217 back to the containing TCB from a generic item in a list. */
\r
2218 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2220 /* Event lists are always in priority order. */
\r
2221 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
2222 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2224 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2226 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2230 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2232 pxTCB->pxTaskTag = NULL;
\r
2236 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2238 pxTCB->ulRunTimeCounter = 0UL;
\r
2242 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2244 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2248 ( void ) xRegions;
\r
2249 ( void ) usStackDepth;
\r
2253 /*-----------------------------------------------------------*/
\r
2255 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2257 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2261 if( xTaskToModify == pxCurrentTCB )
\r
2263 xTaskToModify = NULL;
\r
2266 /* If null is passed in here then we are deleting ourselves. */
\r
2267 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2269 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2271 /*-----------------------------------------------------------*/
\r
2274 static void prvInitialiseTaskLists( void )
\r
2276 unsigned portBASE_TYPE uxPriority;
\r
2278 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2280 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2283 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2284 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2285 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2287 #if ( INCLUDE_vTaskDelete == 1 )
\r
2289 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2293 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2295 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2299 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2301 pxDelayedTaskList = &xDelayedTaskList1;
\r
2302 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2304 /*-----------------------------------------------------------*/
\r
2306 static void prvCheckTasksWaitingTermination( void )
\r
2308 #if ( INCLUDE_vTaskDelete == 1 )
\r
2310 portBASE_TYPE xListIsEmpty;
\r
2312 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2313 too often in the idle task. */
\r
2314 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2316 vTaskSuspendAll();
\r
2317 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2320 if( xListIsEmpty == pdFALSE )
\r
2324 taskENTER_CRITICAL();
\r
2326 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2327 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2328 --uxCurrentNumberOfTasks;
\r
2331 taskEXIT_CRITICAL();
\r
2333 prvDeleteTCB( pxTCB );
\r
2339 /*-----------------------------------------------------------*/
\r
2341 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2343 /* The list item will be inserted in wake time order. */
\r
2344 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2346 if( xTimeToWake < xTickCount )
\r
2348 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2349 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2353 /* The wake time has not overflowed, so we can use the current block list. */
\r
2354 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2356 /* If the task entering the blocked state was placed at the head of the
\r
2357 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2359 if( xTimeToWake < xNextTaskUnblockTime )
\r
2361 xNextTaskUnblockTime = xTimeToWake;
\r
2365 /*-----------------------------------------------------------*/
\r
2367 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2371 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2372 the implementation of the port malloc function. */
\r
2373 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2375 if( pxNewTCB != NULL )
\r
2377 /* Allocate space for the stack used by the task being created.
\r
2378 The base of the stack memory stored in the TCB so the task can
\r
2379 be deleted later if required. */
\r
2380 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2382 if( pxNewTCB->pxStack == NULL )
\r
2384 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2385 vPortFree( pxNewTCB );
\r
2390 /* Just to help debugging. */
\r
2391 memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2397 /*-----------------------------------------------------------*/
\r
2399 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2401 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2403 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2404 unsigned short usStackRemaining;
\r
2405 PRIVILEGED_DATA static char pcStatusString[ configMAX_TASK_NAME_LEN + 30 ];
\r
2407 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2408 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2411 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2412 #if ( portSTACK_GROWTH > 0 )
\r
2414 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2418 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2422 sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
\r
2423 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2425 } while( pxNextTCB != pxFirstTCB );
\r
2429 /*-----------------------------------------------------------*/
\r
2431 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2433 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
\r
2435 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2436 unsigned long ulStatsAsPercentage;
\r
2438 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2439 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2442 /* Get next TCB in from the list. */
\r
2443 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2445 /* Divide by zero check. */
\r
2446 if( ulTotalRunTime > 0UL )
\r
2448 /* Has the task run at all? */
\r
2449 if( pxNextTCB->ulRunTimeCounter == 0UL )
\r
2451 /* The task has used no CPU time at all. */
\r
2452 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2456 /* What percentage of the total run time has the task used?
\r
2457 This will always be rounded down to the nearest integer.
\r
2458 ulTotalRunTime has already been divided by 100. */
\r
2459 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime;
\r
2461 if( ulStatsAsPercentage > 0UL )
\r
2463 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2465 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2469 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2470 printf() library can be used. */
\r
2471 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2477 /* If the percentage is zero here then the task has
\r
2478 consumed less than 1% of the total run time. */
\r
2479 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2481 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2485 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2486 printf() library can be used. */
\r
2487 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2493 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2496 } while( pxNextTCB != pxFirstTCB );
\r
2500 /*-----------------------------------------------------------*/
\r
2502 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2504 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2506 register unsigned short usCount = 0U;
\r
2508 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2510 pucStackByte -= portSTACK_GROWTH;
\r
2514 usCount /= sizeof( portSTACK_TYPE );
\r
2520 /*-----------------------------------------------------------*/
\r
2522 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2524 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2527 unsigned char *pcEndOfStack;
\r
2528 unsigned portBASE_TYPE uxReturn;
\r
2530 pxTCB = prvGetTCBFromHandle( xTask );
\r
2532 #if portSTACK_GROWTH < 0
\r
2534 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2538 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2542 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2548 /*-----------------------------------------------------------*/
\r
2550 #if ( INCLUDE_vTaskDelete == 1 )
\r
2552 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2554 /* This call is required specifically for the TriCore port. It must be
\r
2555 above the vPortFree() calls. The call is also used by ports/demos that
\r
2556 want to allocate and clean RAM statically. */
\r
2557 portCLEAN_UP_TCB( pxTCB );
\r
2559 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2560 the task to free any memory allocated at the application level. */
\r
2561 vPortFreeAligned( pxTCB->pxStack );
\r
2562 vPortFree( pxTCB );
\r
2568 /*-----------------------------------------------------------*/
\r
2570 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2572 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2574 xTaskHandle xReturn;
\r
2576 /* A critical section is not required as this is not called from
\r
2577 an interrupt and the current TCB will always be the same for any
\r
2578 individual execution thread. */
\r
2579 xReturn = pxCurrentTCB;
\r
2586 /*-----------------------------------------------------------*/
\r
2588 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2590 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2592 portBASE_TYPE xReturn;
\r
2594 if( xSchedulerRunning == pdFALSE )
\r
2596 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2600 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2602 xReturn = taskSCHEDULER_RUNNING;
\r
2606 xReturn = taskSCHEDULER_SUSPENDED;
\r
2614 /*-----------------------------------------------------------*/
\r
2616 #if ( configUSE_MUTEXES == 1 )
\r
2618 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2620 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2622 /* If the mutex was given back by an interrupt while the queue was
\r
2623 locked then the mutex holder might now be NULL. */
\r
2624 if( pxMutexHolder != NULL )
\r
2626 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2628 /* Adjust the mutex holder state to account for its new priority. */
\r
2629 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2631 /* If the task being modified is in the ready state it will need to
\r
2632 be moved into a new list. */
\r
2633 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2635 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2637 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2640 /* Inherit the priority before being moved into the new list. */
\r
2641 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2642 prvAddTaskToReadyQueue( pxTCB );
\r
2646 /* Just inherit the priority. */
\r
2647 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2650 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2656 /*-----------------------------------------------------------*/
\r
2658 #if ( configUSE_MUTEXES == 1 )
\r
2660 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2662 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2664 if( pxMutexHolder != NULL )
\r
2666 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2668 /* We must be the running task to be able to give the mutex back.
\r
2669 Remove ourselves from the ready list we currently appear in. */
\r
2670 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2672 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2675 /* Disinherit the priority before adding the task into the new
\r
2677 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2678 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2679 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2680 prvAddTaskToReadyQueue( pxTCB );
\r
2686 /*-----------------------------------------------------------*/
\r
2688 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2690 void vTaskEnterCritical( void )
\r
2692 portDISABLE_INTERRUPTS();
\r
2694 if( xSchedulerRunning != pdFALSE )
\r
2696 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2701 /*-----------------------------------------------------------*/
\r
2703 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2705 void vTaskExitCritical( void )
\r
2707 if( xSchedulerRunning != pdFALSE )
\r
2709 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2711 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2713 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2715 portENABLE_INTERRUPTS();
\r
2722 /*-----------------------------------------------------------*/
\r
2724 #if ( configUSE_TICKLESS_IDLE == 1 )
\r
2726 unsigned portBASE_TYPE uxTaskPendingTicksGet( portBASE_TYPE xResetOnExit )
\r
2728 unsigned portBASE_TYPE uxReturn;
\r
2730 uxReturn = uxMissedTicks;
\r
2732 if( xResetOnExit == pdTRUE )
\r
2734 uxMissedTicks = 0;
\r
2741 /*-----------------------------------------------------------*/
\r
projects / freertos / blob