2 FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
\r
4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
\r
5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 ***************************************************************************
\r
9 * FreeRTOS tutorial books are available in pdf and paperback. *
\r
10 * Complete, revised, and edited pdf reference manuals are also *
\r
13 * Purchasing FreeRTOS documentation will not only help you, by *
\r
14 * ensuring you get running as quickly as possible and with an *
\r
15 * in-depth knowledge of how to use FreeRTOS, it will also help *
\r
16 * the FreeRTOS project to continue with its mission of providing *
\r
17 * professional grade, cross platform, de facto standard solutions *
\r
18 * for microcontrollers - completely free of charge! *
\r
20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
\r
22 * Thank you for using FreeRTOS, and thank you for your support! *
\r
24 ***************************************************************************
\r
27 This file is part of the FreeRTOS distribution.
\r
29 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
30 the terms of the GNU General Public License (version 2) as published by the
\r
31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
\r
32 >>>NOTE<<< The modification to the GPL is included to allow you to
\r
33 distribute a combined work that includes FreeRTOS without being obliged to
\r
34 provide the source code for proprietary components outside of the FreeRTOS
\r
35 kernel. FreeRTOS is distributed in the hope that it will be useful, but
\r
36 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
\r
37 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
\r
38 more details. You should have received a copy of the GNU General Public
\r
39 License and the FreeRTOS license exception along with FreeRTOS; if not it
\r
40 can be viewed here: http://www.freertos.org/a00114.html and also obtained
\r
41 by writing to Richard Barry, contact details for whom are available on the
\r
46 ***************************************************************************
\r
48 * Having a problem? Start by reading the FAQ "My application does *
\r
49 * not run, what could be wrong?" *
\r
51 * http://www.FreeRTOS.org/FAQHelp.html *
\r
53 ***************************************************************************
\r
56 http://www.FreeRTOS.org - Documentation, training, latest versions, license
\r
57 and contact details.
\r
59 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
60 including FreeRTOS+Trace - an indispensable productivity tool.
\r
62 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
\r
63 the code with commercial support, indemnification, and middleware, under
\r
64 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
\r
65 provide a safety engineered and independently SIL3 certified version under
\r
66 the SafeRTOS brand: http://www.SafeRTOS.com.
\r
69 /* Standard includes. */
\r
74 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
\r
75 all the API functions to use the MPU wrappers. That should only be done when
\r
76 task.h is included from an application file. */
\r
77 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
\r
79 /* FreeRTOS includes. */
\r
80 #include "FreeRTOS.h"
\r
83 #include "StackMacros.h"
\r
85 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
\r
88 * Defines the size, in words, of the stack allocated to the idle task.
\r
90 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
\r
93 * Task control block. A task control block (TCB) is allocated for each task,
\r
94 * and stores task state information, including a pointer to the task's context
\r
95 * (the task's run time environment, including register values)
\r
97 typedef struct tskTaskControlBlock
\r
99 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. */
\r
101 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
102 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
\r
105 xListItem xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
\r
106 xListItem xEventListItem; /*< Used to reference a task from an event list. */
\r
107 unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 0 is the lowest priority. */
\r
108 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
\r
109 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
\r
111 #if ( portSTACK_GROWTH > 0 )
\r
112 portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
\r
115 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
116 unsigned portBASE_TYPE uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
\r
119 #if ( configUSE_TRACE_FACILITY == 1 )
\r
120 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. */
\r
121 unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
\r
124 #if ( configUSE_MUTEXES == 1 )
\r
125 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
\r
128 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
129 pdTASK_HOOK_CODE pxTaskTag;
\r
132 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
133 unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
\r
140 * Some kernel aware debuggers require the data the debugger needs access to to
\r
141 * be global, rather than file scope.
\r
143 #ifdef portREMOVE_STATIC_QUALIFIER
\r
148 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
\r
150 /* Lists for ready and blocked tasks. --------------------*/
\r
151 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
\r
152 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
\r
153 PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
\r
154 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
\r
155 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. */
\r
156 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. */
\r
158 #if ( INCLUDE_vTaskDelete == 1 )
\r
160 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
\r
161 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
\r
165 #if ( INCLUDE_vTaskSuspend == 1 )
\r
167 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
\r
171 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
173 PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
\r
177 /* File private variables. --------------------------------*/
\r
178 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
\r
179 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
\r
180 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
\r
181 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
\r
182 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
\r
183 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
\r
184 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0U;
\r
185 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
\r
186 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
\r
187 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
\r
188 PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
\r
190 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
192 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
\r
193 PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
\r
194 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
\r
198 /* Debugging and trace facilities private variables and macros. ------------*/
\r
201 * The value used to fill the stack of a task when the task is created. This
\r
202 * is used purely for checking the high water mark for tasks.
\r
204 #define tskSTACK_FILL_BYTE ( 0xa5U )
\r
207 * Macros used by vListTask to indicate which state a task is in.
\r
209 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
\r
210 #define tskREADY_CHAR ( ( signed char ) 'R' )
\r
211 #define tskDELETED_CHAR ( ( signed char ) 'D' )
\r
212 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
\r
214 /*-----------------------------------------------------------*/
\r
216 #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 0
\r
218 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
\r
219 performed in a generic way that is not optimised to any particular
\r
220 microcontroller architecture. */
\r
222 /* uxTopReadyPriority holds the priority of the highest priority ready
\r
224 #define taskRECORD_READY_PRIORITY( uxPriority ) \
\r
226 if( ( uxPriority ) > uxTopReadyPriority ) \
\r
228 uxTopReadyPriority = ( uxPriority ); \
\r
230 } /* taskRECORD_READY_PRIORITY */
\r
232 /*-----------------------------------------------------------*/
\r
234 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
\r
236 /* Find the highest priority queue that contains ready tasks. */ \
\r
237 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
\r
239 configASSERT( uxTopReadyPriority ); \
\r
240 --uxTopReadyPriority; \
\r
243 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
\r
244 the same priority get an equal share of the processor time. */ \
\r
245 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
\r
246 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
\r
248 /*-----------------------------------------------------------*/
\r
250 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
\r
251 they are only required when a port optimised method of task selection is
\r
253 #define taskRESET_READY_PRIORITY( uxPriority )
\r
254 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
\r
256 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
\r
258 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
\r
259 performed in a way that is tailored to the particular microcontroller
\r
260 architecture being used. */
\r
262 /* A port optimised version is provided. Call the port defined macros. */
\r
263 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
\r
265 /*-----------------------------------------------------------*/
\r
267 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
\r
269 unsigned portBASE_TYPE uxTopPriority; \
\r
271 /* Find the highest priority queue that contains ready tasks. */ \
\r
272 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
\r
273 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
\r
274 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
\r
275 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
\r
277 /*-----------------------------------------------------------*/
\r
279 /* A port optimised version is provided, call it only if the TCB being reset
\r
280 is being referenced from a ready list. If it is referenced from a delayed
\r
281 or suspended list then it won't be in a ready list. */
\r
282 #define taskRESET_READY_PRIORITY( uxPriority ) \
\r
284 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
\r
286 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
\r
290 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
\r
293 * Place the task represented by pxTCB into the appropriate ready queue for
\r
294 * the task. It is inserted at the end of the list. One quirk of this is
\r
295 * that if the task being inserted is at the same priority as the currently
\r
296 * executing task, then it will only be rescheduled after the currently
\r
297 * executing task has been rescheduled.
\r
299 #define prvAddTaskToReadyQueue( pxTCB ) \
\r
300 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
\r
301 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
\r
302 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
\r
303 /*-----------------------------------------------------------*/
\r
306 * Macro that looks at the list of tasks that are currently delayed to see if
\r
307 * any require waking.
\r
309 * Tasks are stored in the queue in the order of their wake time - meaning
\r
310 * once one tasks has been found whose timer has not expired we need not look
\r
311 * any further down the list.
\r
313 #define prvCheckDelayedTasks() \
\r
315 portTickType xItemValue; \
\r
317 /* Is the tick count greater than or equal to the wake time of the first \
\r
318 task referenced from the delayed tasks list? */ \
\r
319 if( xTickCount >= xNextTaskUnblockTime ) \
\r
323 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
\r
325 /* The delayed list is empty. Set xNextTaskUnblockTime to the \
\r
326 maximum possible value so it is extremely unlikely that the \
\r
327 if( xTickCount >= xNextTaskUnblockTime ) test will pass next \
\r
329 xNextTaskUnblockTime = portMAX_DELAY; \
\r
334 /* The delayed list is not empty, get the value of the item at \
\r
335 the head of the delayed list. This is the time at which the \
\r
336 task at the head of the delayed list should be removed from \
\r
337 the Blocked state. */ \
\r
338 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
\r
339 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
\r
341 if( xTickCount < xItemValue ) \
\r
343 /* It is not time to unblock this item yet, but the item \
\r
344 value is the time at which the task at the head of the \
\r
345 blocked list should be removed from the Blocked state - \
\r
346 so record the item value in xNextTaskUnblockTime. */ \
\r
347 xNextTaskUnblockTime = xItemValue; \
\r
351 /* It is time to remove the item from the Blocked state. */ \
\r
352 uxListRemove( &( pxTCB->xGenericListItem ) ); \
\r
354 /* Is the task waiting on an event also? */ \
\r
355 if( pxTCB->xEventListItem.pvContainer != NULL ) \
\r
357 uxListRemove( &( pxTCB->xEventListItem ) ); \
\r
359 prvAddTaskToReadyQueue( pxTCB ); \
\r
364 /*-----------------------------------------------------------*/
\r
367 * Several functions take an xTaskHandle parameter that can optionally be NULL,
\r
368 * where NULL is used to indicate that the handle of the currently executing
\r
369 * task should be used in place of the parameter. This macro simply checks to
\r
370 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
\r
372 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
\r
374 /* Callback function prototypes. --------------------------*/
\r
375 extern void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName );
\r
376 extern void vApplicationTickHook( void );
\r
378 /* File private functions. --------------------------------*/
\r
381 * Utility to ready a TCB for a given task. Mainly just copies the parameters
\r
382 * into the TCB structure.
\r
384 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
\r
387 * Utility to ready all the lists used by the scheduler. This is called
\r
388 * automatically upon the creation of the first task.
\r
390 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
\r
393 * The idle task, which as all tasks is implemented as a never ending loop.
\r
394 * The idle task is automatically created and added to the ready lists upon
\r
395 * creation of the first user task.
\r
397 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
\r
398 * language extensions. The equivalent prototype for this function is:
\r
400 * void prvIdleTask( void *pvParameters );
\r
403 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
\r
406 * Utility to free all memory allocated by the scheduler to hold a TCB,
\r
407 * including the stack pointed to by the TCB.
\r
409 * This does not free memory allocated by the task itself (i.e. memory
\r
410 * allocated by calls to pvPortMalloc from within the tasks application code).
\r
412 #if ( INCLUDE_vTaskDelete == 1 )
\r
414 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
\r
419 * Used only by the idle task. This checks to see if anything has been placed
\r
420 * in the list of tasks waiting to be deleted. If so the task is cleaned up
\r
421 * and its TCB deleted.
\r
423 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
\r
426 * The currently executing task is entering the Blocked state. Add the task to
\r
427 * either the current or the overflow delayed task list.
\r
429 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
\r
432 * Allocates memory from the heap for a TCB and associated stack. Checks the
\r
433 * allocation was successful.
\r
435 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
\r
438 * Called from vTaskList. vListTasks details all the tasks currently under
\r
439 * control of the scheduler. The tasks may be in one of a number of lists.
\r
440 * prvListTaskWithinSingleList accepts a list and details the tasks from
\r
441 * within just that list.
\r
443 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
\r
444 * NORMAL APPLICATION CODE.
\r
446 #if ( configUSE_TRACE_FACILITY == 1 )
\r
448 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
\r
453 * When a task is created, the stack of the task is filled with a known value.
\r
454 * This function determines the 'high water mark' of the task stack by
\r
455 * determining how much of the stack remains at the original preset value.
\r
457 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
459 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
\r
464 * Return the amount of time, in ticks, that will pass before the kernel will
\r
465 * next move a task from the Blocked state to the Running state.
\r
467 * This conditional compilation should use inequality to 0, not equality to 1.
\r
468 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
\r
469 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
\r
470 * set to a value other than 1.
\r
472 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
474 static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
\r
482 /*-----------------------------------------------------------
\r
483 * TASK CREATION API documented in task.h
\r
484 *----------------------------------------------------------*/
\r
486 signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
\r
488 signed portBASE_TYPE xReturn;
\r
491 configASSERT( pxTaskCode );
\r
492 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
\r
494 /* Allocate the memory required by the TCB and stack for the new task,
\r
495 checking that the allocation was successful. */
\r
496 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
\r
498 if( pxNewTCB != NULL )
\r
500 portSTACK_TYPE *pxTopOfStack;
\r
502 #if( portUSING_MPU_WRAPPERS == 1 )
\r
503 /* Should the task be created in privileged mode? */
\r
504 portBASE_TYPE xRunPrivileged;
\r
505 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
\r
507 xRunPrivileged = pdTRUE;
\r
511 xRunPrivileged = pdFALSE;
\r
513 uxPriority &= ~portPRIVILEGE_BIT;
\r
514 #endif /* portUSING_MPU_WRAPPERS == 1 */
\r
516 /* Calculate the top of stack address. This depends on whether the
\r
517 stack grows from high memory to low (as per the 80x86) or visa versa.
\r
518 portSTACK_GROWTH is used to make the result positive or negative as
\r
519 required by the port. */
\r
520 #if( portSTACK_GROWTH < 0 )
\r
522 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
\r
523 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
\r
525 /* Check the alignment of the calculated top of stack is correct. */
\r
526 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
530 pxTopOfStack = pxNewTCB->pxStack;
\r
532 /* Check the alignment of the stack buffer is correct. */
\r
533 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
535 /* If we want to use stack checking on architectures that use
\r
536 a positive stack growth direction then we also need to store the
\r
537 other extreme of the stack space. */
\r
538 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
\r
542 /* Setup the newly allocated TCB with the initial state of the task. */
\r
543 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
\r
545 /* Initialize the TCB stack to look as if the task was already running,
\r
546 but had been interrupted by the scheduler. The return address is set
\r
547 to the start of the task function. Once the stack has been initialised
\r
548 the top of stack variable is updated. */
\r
549 #if( portUSING_MPU_WRAPPERS == 1 )
\r
551 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
\r
555 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
\r
559 /* Check the alignment of the initialised stack. */
\r
560 portALIGNMENT_ASSERT_pxCurrentTCB( ( ( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
\r
562 if( ( void * ) pxCreatedTask != NULL )
\r
564 /* Pass the TCB out - in an anonymous way. The calling function/
\r
565 task can use this as a handle to delete the task later if
\r
567 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
\r
570 /* We are going to manipulate the task queues to add this task to a
\r
571 ready list, so must make sure no interrupts occur. */
\r
572 taskENTER_CRITICAL();
\r
574 uxCurrentNumberOfTasks++;
\r
575 if( pxCurrentTCB == NULL )
\r
577 /* There are no other tasks, or all the other tasks are in
\r
578 the suspended state - make this the current task. */
\r
579 pxCurrentTCB = pxNewTCB;
\r
581 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
583 /* This is the first task to be created so do the preliminary
\r
584 initialisation required. We will not recover if this call
\r
585 fails, but we will report the failure. */
\r
586 prvInitialiseTaskLists();
\r
591 /* If the scheduler is not already running, make this task the
\r
592 current task if it is the highest priority task to be created
\r
594 if( xSchedulerRunning == pdFALSE )
\r
596 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
598 pxCurrentTCB = pxNewTCB;
\r
603 /* Remember the top priority to make context switching faster. Use
\r
604 the priority in pxNewTCB as this has been capped to a valid value. */
\r
605 if( pxNewTCB->uxPriority > uxTopUsedPriority )
\r
607 uxTopUsedPriority = pxNewTCB->uxPriority;
\r
610 #if ( configUSE_TRACE_FACILITY == 1 )
\r
612 /* Add a counter into the TCB for tracing only. */
\r
613 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
618 prvAddTaskToReadyQueue( pxNewTCB );
\r
621 portSETUP_TCB( pxNewTCB );
\r
622 traceTASK_CREATE( pxNewTCB );
\r
624 taskEXIT_CRITICAL();
\r
628 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
629 traceTASK_CREATE_FAILED();
\r
632 if( xReturn == pdPASS )
\r
634 if( xSchedulerRunning != pdFALSE )
\r
636 /* If the created task is of a higher priority than the current task
\r
637 then it should run now. */
\r
638 if( pxCurrentTCB->uxPriority < uxPriority )
\r
640 portYIELD_WITHIN_API();
\r
647 /*-----------------------------------------------------------*/
\r
649 #if ( INCLUDE_vTaskDelete == 1 )
\r
651 void vTaskDelete( xTaskHandle pxTaskToDelete )
\r
655 taskENTER_CRITICAL();
\r
657 /* Ensure a yield is performed if the current task is being
\r
659 if( pxTaskToDelete == pxCurrentTCB )
\r
661 pxTaskToDelete = NULL;
\r
664 /* If null is passed in here then we are deleting ourselves. */
\r
665 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
\r
667 /* Remove task from the ready list and place in the termination list.
\r
668 This will stop the task from be scheduled. The idle task will check
\r
669 the termination list and free up any memory allocated by the
\r
670 scheduler for the TCB and stack. */
\r
671 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
673 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
676 /* Is the task waiting on an event also? */
\r
677 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
679 uxListRemove( &( pxTCB->xEventListItem ) );
\r
682 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
684 /* Increment the ucTasksDeleted variable so the idle task knows
\r
685 there is a task that has been deleted and that it should therefore
\r
686 check the xTasksWaitingTermination list. */
\r
689 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
690 can detect that the task lists need re-generating. */
\r
693 traceTASK_DELETE( pxTCB );
\r
695 taskEXIT_CRITICAL();
\r
697 /* Force a reschedule if we have just deleted the current task. */
\r
698 if( xSchedulerRunning != pdFALSE )
\r
700 if( ( void * ) pxTaskToDelete == NULL )
\r
702 portYIELD_WITHIN_API();
\r
714 /*-----------------------------------------------------------
\r
715 * TASK CONTROL API documented in task.h
\r
716 *----------------------------------------------------------*/
\r
718 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
720 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
722 portTickType xTimeToWake;
\r
723 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
725 configASSERT( pxPreviousWakeTime );
\r
726 configASSERT( ( xTimeIncrement > 0U ) );
\r
730 /* Generate the tick time at which the task wants to wake. */
\r
731 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
733 if( xTickCount < *pxPreviousWakeTime )
\r
735 /* The tick count has overflowed since this function was
\r
736 lasted called. In this case the only time we should ever
\r
737 actually delay is if the wake time has also overflowed,
\r
738 and the wake time is greater than the tick time. When this
\r
739 is the case it is as if neither time had overflowed. */
\r
740 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
742 xShouldDelay = pdTRUE;
\r
747 /* The tick time has not overflowed. In this case we will
\r
748 delay if either the wake time has overflowed, and/or the
\r
749 tick time is less than the wake time. */
\r
750 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
752 xShouldDelay = pdTRUE;
\r
756 /* Update the wake time ready for the next call. */
\r
757 *pxPreviousWakeTime = xTimeToWake;
\r
759 if( xShouldDelay != pdFALSE )
\r
761 traceTASK_DELAY_UNTIL();
\r
763 /* We must remove ourselves from the ready list before adding
\r
764 ourselves to the blocked list as the same list item is used for
\r
766 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
768 /* The current task must be in a ready list, so there is
\r
769 no need to check, and the port reset macro can be called
\r
771 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
774 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
777 xAlreadyYielded = xTaskResumeAll();
\r
779 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
780 have put ourselves to sleep. */
\r
781 if( xAlreadyYielded == pdFALSE )
\r
783 portYIELD_WITHIN_API();
\r
788 /*-----------------------------------------------------------*/
\r
790 #if ( INCLUDE_vTaskDelay == 1 )
\r
792 void vTaskDelay( portTickType xTicksToDelay )
\r
794 portTickType xTimeToWake;
\r
795 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
797 /* A delay time of zero just forces a reschedule. */
\r
798 if( xTicksToDelay > ( portTickType ) 0U )
\r
804 /* A task that is removed from the event list while the
\r
805 scheduler is suspended will not get placed in the ready
\r
806 list or removed from the blocked list until the scheduler
\r
809 This task cannot be in an event list as it is the currently
\r
812 /* Calculate the time to wake - this may overflow but this is
\r
814 xTimeToWake = xTickCount + xTicksToDelay;
\r
816 /* We must remove ourselves from the ready list before adding
\r
817 ourselves to the blocked list as the same list item is used for
\r
819 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
821 /* The current task must be in a ready list, so there is
\r
822 no need to check, and the port reset macro can be called
\r
824 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
826 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
828 xAlreadyYielded = xTaskResumeAll();
\r
831 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
832 have put ourselves to sleep. */
\r
833 if( xAlreadyYielded == pdFALSE )
\r
835 portYIELD_WITHIN_API();
\r
840 /*-----------------------------------------------------------*/
\r
842 #if ( INCLUDE_eTaskStateGet == 1 )
\r
844 eTaskState eTaskStateGet( xTaskHandle pxTask )
\r
846 eTaskState eReturn;
\r
847 xList *pxStateList;
\r
850 pxTCB = ( tskTCB * ) pxTask;
\r
852 if( pxTCB == pxCurrentTCB )
\r
854 /* The task calling this function is querying its own state. */
\r
855 eReturn = eRunning;
\r
859 taskENTER_CRITICAL();
\r
861 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
863 taskEXIT_CRITICAL();
\r
865 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
867 /* The task being queried is referenced from one of the Blocked
\r
869 eReturn = eBlocked;
\r
872 #if ( INCLUDE_vTaskSuspend == 1 )
\r
873 else if( pxStateList == &xSuspendedTaskList )
\r
875 /* The task being queried is referenced from the suspended
\r
877 eReturn = eSuspended;
\r
881 #if ( INCLUDE_vTaskDelete == 1 )
\r
882 else if( pxStateList == &xTasksWaitingTermination )
\r
884 /* The task being queried is referenced from the deleted
\r
886 eReturn = eDeleted;
\r
892 /* If the task is not in any other state, it must be in the
\r
893 Ready (including pending ready) state. */
\r
902 /*-----------------------------------------------------------*/
\r
904 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
906 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
909 unsigned portBASE_TYPE uxReturn;
\r
911 taskENTER_CRITICAL();
\r
913 /* If null is passed in here then we are changing the
\r
914 priority of the calling function. */
\r
915 pxTCB = prvGetTCBFromHandle( pxTask );
\r
916 uxReturn = pxTCB->uxPriority;
\r
918 taskEXIT_CRITICAL();
\r
924 /*-----------------------------------------------------------*/
\r
926 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
928 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
931 unsigned portBASE_TYPE uxCurrentPriority, uxPriorityUsedOnEntry;
\r
932 portBASE_TYPE xYieldRequired = pdFALSE;
\r
934 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
936 /* Ensure the new priority is valid. */
\r
937 if( uxNewPriority >= configMAX_PRIORITIES )
\r
939 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
942 taskENTER_CRITICAL();
\r
944 if( pxTask == pxCurrentTCB )
\r
949 /* If null is passed in here then we are changing the
\r
950 priority of the calling function. */
\r
951 pxTCB = prvGetTCBFromHandle( pxTask );
\r
953 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
955 #if ( configUSE_MUTEXES == 1 )
\r
957 uxCurrentPriority = pxTCB->uxBasePriority;
\r
961 uxCurrentPriority = pxTCB->uxPriority;
\r
965 if( uxCurrentPriority != uxNewPriority )
\r
967 /* The priority change may have readied a task of higher
\r
968 priority than the calling task. */
\r
969 if( uxNewPriority > uxCurrentPriority )
\r
971 if( pxTask != NULL )
\r
973 /* The priority of another task is being raised. If we
\r
974 were raising the priority of the currently running task
\r
975 there would be no need to switch as it must have already
\r
976 been the highest priority task. */
\r
977 xYieldRequired = pdTRUE;
\r
980 else if( pxTask == NULL )
\r
982 /* Setting our own priority down means there may now be another
\r
983 task of higher priority that is ready to execute. */
\r
984 xYieldRequired = pdTRUE;
\r
987 /* Remember the ready list the task might be referenced from
\r
988 before its uxPriority member is changed so the
\r
989 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
990 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
992 #if ( configUSE_MUTEXES == 1 )
\r
994 /* Only change the priority being used if the task is not
\r
995 currently using an inherited priority. */
\r
996 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
998 pxTCB->uxPriority = uxNewPriority;
\r
1001 /* The base priority gets set whatever. */
\r
1002 pxTCB->uxBasePriority = uxNewPriority;
\r
1006 pxTCB->uxPriority = uxNewPriority;
\r
1010 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
1012 /* If the task is in the blocked or suspended list we need do
\r
1013 nothing more than change it's priority variable. However, if
\r
1014 the task is in a ready list it needs to be removed and placed
\r
1015 in the queue appropriate to its new priority. */
\r
1016 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
1018 /* The task is currently in its ready list - remove before adding
\r
1019 it to it's new ready list. As we are in a critical section we
\r
1020 can do this even if the scheduler is suspended. */
\r
1021 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1023 taskRESET_READY_PRIORITY( uxPriorityUsedOnEntry );
\r
1025 prvAddTaskToReadyQueue( pxTCB );
\r
1028 if( xYieldRequired == pdTRUE )
\r
1030 portYIELD_WITHIN_API();
\r
1034 taskEXIT_CRITICAL();
\r
1036 /* Remove compiler warning about unused parameter when the port
\r
1037 optimised task selection is not being used. */
\r
1038 ( void ) uxPriorityUsedOnEntry;
\r
1042 /*-----------------------------------------------------------*/
\r
1044 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1046 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
1050 taskENTER_CRITICAL();
\r
1052 /* Ensure a yield is performed if the current task is being
\r
1054 if( pxTaskToSuspend == pxCurrentTCB )
\r
1056 pxTaskToSuspend = NULL;
\r
1059 /* If null is passed in here then we are suspending ourselves. */
\r
1060 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
1062 traceTASK_SUSPEND( pxTCB );
\r
1064 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
1065 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1067 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1070 /* Is the task waiting on an event also? */
\r
1071 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
1073 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1076 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1078 taskEXIT_CRITICAL();
\r
1080 if( ( void * ) pxTaskToSuspend == NULL )
\r
1082 if( xSchedulerRunning != pdFALSE )
\r
1084 /* We have just suspended the current task. */
\r
1085 portYIELD_WITHIN_API();
\r
1089 /* The scheduler is not running, but the task that was pointed
\r
1090 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1091 must be adjusted to point to a different task. */
\r
1092 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1094 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1095 NULL so when the next task is created pxCurrentTCB will
\r
1096 be set to point to it no matter what its relative priority
\r
1098 pxCurrentTCB = NULL;
\r
1102 vTaskSwitchContext();
\r
1109 /*-----------------------------------------------------------*/
\r
1111 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1113 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
1115 portBASE_TYPE xReturn = pdFALSE;
\r
1116 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1118 /* It does not make sense to check if the calling task is suspended. */
\r
1119 configASSERT( xTask );
\r
1121 /* Is the task we are attempting to resume actually in the
\r
1122 suspended list? */
\r
1123 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1125 /* Has the task already been resumed from within an ISR? */
\r
1126 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
1128 /* Is it in the suspended list because it is in the
\r
1129 Suspended state? It is possible to be in the suspended
\r
1130 list because it is blocked on a task with no timeout
\r
1132 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
1143 /*-----------------------------------------------------------*/
\r
1145 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1147 void vTaskResume( xTaskHandle pxTaskToResume )
\r
1151 /* It does not make sense to resume the calling task. */
\r
1152 configASSERT( pxTaskToResume );
\r
1154 /* Remove the task from whichever list it is currently in, and place
\r
1155 it in the ready list. */
\r
1156 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1158 /* The parameter cannot be NULL as it is impossible to resume the
\r
1159 currently executing task. */
\r
1160 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1162 taskENTER_CRITICAL();
\r
1164 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1166 traceTASK_RESUME( pxTCB );
\r
1168 /* As we are in a critical section we can access the ready
\r
1169 lists even if the scheduler is suspended. */
\r
1170 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1171 prvAddTaskToReadyQueue( pxTCB );
\r
1173 /* We may have just resumed a higher priority task. */
\r
1174 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1176 /* This yield may not cause the task just resumed to run, but
\r
1177 will leave the lists in the correct state for the next yield. */
\r
1178 portYIELD_WITHIN_API();
\r
1182 taskEXIT_CRITICAL();
\r
1188 /*-----------------------------------------------------------*/
\r
1190 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1192 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
1194 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1196 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1198 configASSERT( pxTaskToResume );
\r
1200 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1202 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1204 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1206 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1208 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1210 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1211 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1212 prvAddTaskToReadyQueue( pxTCB );
\r
1216 /* We cannot access the delayed or ready lists, so will hold this
\r
1217 task pending until the scheduler is resumed, at which point a
\r
1218 yield will be performed if necessary. */
\r
1219 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1223 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1225 return xYieldRequired;
\r
1233 /*-----------------------------------------------------------
\r
1234 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1235 *----------------------------------------------------------*/
\r
1238 void vTaskStartScheduler( void )
\r
1240 portBASE_TYPE xReturn;
\r
1242 /* Add the idle task at the lowest priority. */
\r
1243 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1245 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1246 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1247 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );
\r
1251 /* Create the idle task without storing its handle. */
\r
1252 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
\r
1256 #if ( configUSE_TIMERS == 1 )
\r
1258 if( xReturn == pdPASS )
\r
1260 xReturn = xTimerCreateTimerTask();
\r
1265 if( xReturn == pdPASS )
\r
1267 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1268 before or during the call to xPortStartScheduler(). The stacks of
\r
1269 the created tasks contain a status word with interrupts switched on
\r
1270 so interrupts will automatically get re-enabled when the first task
\r
1273 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1274 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1275 portDISABLE_INTERRUPTS();
\r
1277 xSchedulerRunning = pdTRUE;
\r
1278 xTickCount = ( portTickType ) 0U;
\r
1280 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1281 macro must be defined to configure the timer/counter used to generate
\r
1282 the run time counter time base. */
\r
1283 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1285 /* Setting up the timer tick is hardware specific and thus in the
\r
1286 portable interface. */
\r
1287 if( xPortStartScheduler() != pdFALSE )
\r
1289 /* Should not reach here as if the scheduler is running the
\r
1290 function will not return. */
\r
1294 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1298 /* This line will only be reached if the kernel could not be started. */
\r
1299 configASSERT( xReturn );
\r
1301 /*-----------------------------------------------------------*/
\r
1303 void vTaskEndScheduler( void )
\r
1305 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1306 routine so the original ISRs can be restored if necessary. The port
\r
1307 layer must ensure interrupts enable bit is left in the correct state. */
\r
1308 portDISABLE_INTERRUPTS();
\r
1309 xSchedulerRunning = pdFALSE;
\r
1310 vPortEndScheduler();
\r
1312 /*----------------------------------------------------------*/
\r
1314 void vTaskSuspendAll( void )
\r
1316 /* A critical section is not required as the variable is of type
\r
1318 ++uxSchedulerSuspended;
\r
1320 /*----------------------------------------------------------*/
\r
1322 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1324 portTickType prvGetExpectedIdleTime( void )
\r
1326 portTickType xReturn;
\r
1328 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1332 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1334 /* There are other idle priority tasks in the ready state. If
\r
1335 time slicing is used then the very next tick interrupt must be
\r
1341 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1347 #endif /* configUSE_TICKLESS_IDLE != 0 */
\r
1348 /*----------------------------------------------------------*/
\r
1350 signed portBASE_TYPE xTaskResumeAll( void )
\r
1352 register tskTCB *pxTCB;
\r
1353 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1355 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1356 previous call to vTaskSuspendAll(). */
\r
1357 configASSERT( uxSchedulerSuspended );
\r
1359 /* It is possible that an ISR caused a task to be removed from an event
\r
1360 list while the scheduler was suspended. If this was the case then the
\r
1361 removed task will have been added to the xPendingReadyList. Once the
\r
1362 scheduler has been resumed it is safe to move all the pending ready
\r
1363 tasks from this list into their appropriate ready list. */
\r
1364 taskENTER_CRITICAL();
\r
1366 --uxSchedulerSuspended;
\r
1368 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1370 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1372 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1374 /* Move any readied tasks from the pending list into the
\r
1375 appropriate ready list. */
\r
1376 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1378 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1379 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1380 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1381 prvAddTaskToReadyQueue( pxTCB );
\r
1383 /* If we have moved a task that has a priority higher than
\r
1384 the current task then we should yield. */
\r
1385 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1387 xYieldRequired = pdTRUE;
\r
1391 /* If any ticks occurred while the scheduler was suspended then
\r
1392 they should be processed now. This ensures the tick count does not
\r
1393 slip, and that any delayed tasks are resumed at the correct time. */
\r
1394 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1396 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1398 vTaskIncrementTick();
\r
1402 /* As we have processed some ticks it is appropriate to yield
\r
1403 to ensure the highest priority task that is ready to run is
\r
1404 the task actually running. */
\r
1405 #if configUSE_PREEMPTION == 1
\r
1407 xYieldRequired = pdTRUE;
\r
1412 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1414 xAlreadyYielded = pdTRUE;
\r
1415 xMissedYield = pdFALSE;
\r
1416 portYIELD_WITHIN_API();
\r
1421 taskEXIT_CRITICAL();
\r
1423 return xAlreadyYielded;
\r
1431 /*-----------------------------------------------------------
\r
1432 * PUBLIC TASK UTILITIES documented in task.h
\r
1433 *----------------------------------------------------------*/
\r
1437 portTickType xTaskGetTickCount( void )
\r
1439 portTickType xTicks;
\r
1441 /* Critical section required if running on a 16 bit processor. */
\r
1442 taskENTER_CRITICAL();
\r
1444 xTicks = xTickCount;
\r
1446 taskEXIT_CRITICAL();
\r
1450 /*-----------------------------------------------------------*/
\r
1452 portTickType xTaskGetTickCountFromISR( void )
\r
1454 portTickType xReturn;
\r
1455 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1457 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1458 xReturn = xTickCount;
\r
1459 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1463 /*-----------------------------------------------------------*/
\r
1465 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1467 /* A critical section is not required because the variables are of type
\r
1469 return uxCurrentNumberOfTasks;
\r
1471 /*-----------------------------------------------------------*/
\r
1473 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1475 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1479 /* If null is passed in here then the name of the calling task is being queried. */
\r
1480 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1481 configASSERT( pxTCB );
\r
1482 return &( pxTCB->pcTaskName[ 0 ] );
\r
1486 /*-----------------------------------------------------------*/
\r
1488 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1490 void vTaskList( signed char *pcWriteBuffer )
\r
1492 unsigned portBASE_TYPE uxQueue;
\r
1494 /* This is a VERY costly function that should be used for debug only.
\r
1495 It leaves interrupts disabled for a LONG time. */
\r
1497 vTaskSuspendAll();
\r
1499 /* Run through all the lists that could potentially contain a TCB and
\r
1500 report the task name, state and stack high water mark. */
\r
1502 *pcWriteBuffer = ( signed char ) 0x00;
\r
1503 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1505 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1511 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1513 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1515 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1517 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1519 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1522 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1524 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1527 #if( INCLUDE_vTaskDelete == 1 )
\r
1529 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1531 prvListTaskWithinSingleList( pcWriteBuffer, &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1536 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1538 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1540 prvListTaskWithinSingleList( pcWriteBuffer, &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1549 /*----------------------------------------------------------*/
\r
1551 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1553 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1555 unsigned portBASE_TYPE uxQueue;
\r
1556 unsigned long ulTotalRunTime;
\r
1558 /* This is a VERY costly function that should be used for debug only.
\r
1559 It leaves interrupts disabled for a LONG time. */
\r
1561 vTaskSuspendAll();
\r
1563 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1564 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1566 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1569 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1570 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1571 ulTotalRunTime /= 100UL;
\r
1573 /* Run through all the lists that could potentially contain a TCB,
\r
1574 generating a table of run timer percentages in the provided
\r
1577 *pcWriteBuffer = ( signed char ) 0x00;
\r
1578 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1580 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1586 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1588 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
\r
1590 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1592 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1594 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
\r
1597 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1599 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
\r
1602 #if ( INCLUDE_vTaskDelete == 1 )
\r
1604 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1606 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTime );
\r
1611 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1613 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1615 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTime );
\r
1624 /*----------------------------------------------------------*/
\r
1626 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1628 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1630 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1631 started, then xIdleTaskHandle will be NULL. */
\r
1632 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1633 return xIdleTaskHandle;
\r
1637 /*----------------------------------------------------------*/
\r
1639 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1640 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1641 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1643 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1645 void vTaskStepTick( portTickType xTicksToJump )
\r
1647 configASSERT( xTicksToJump <= xNextTaskUnblockTime );
\r
1648 xTickCount += xTicksToJump;
\r
1653 /*-----------------------------------------------------------
\r
1654 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1655 * documented in task.h
\r
1656 *----------------------------------------------------------*/
\r
1658 void vTaskIncrementTick( void )
\r
1662 /* Called by the portable layer each time a tick interrupt occurs.
\r
1663 Increments the tick then checks to see if the new tick value will cause any
\r
1664 tasks to be unblocked. */
\r
1665 traceTASK_INCREMENT_TICK( xTickCount );
\r
1666 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1669 if( xTickCount == ( portTickType ) 0U )
\r
1673 /* Tick count has overflowed so we need to swap the delay lists.
\r
1674 If there are any items in pxDelayedTaskList here then there is
\r
1676 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );
\r
1678 pxTemp = pxDelayedTaskList;
\r
1679 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1680 pxOverflowDelayedTaskList = pxTemp;
\r
1681 xNumOfOverflows++;
\r
1683 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1685 /* The new current delayed list is empty. Set
\r
1686 xNextTaskUnblockTime to the maximum possible value so it is
\r
1687 extremely unlikely that the
\r
1688 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
1689 there is an item in the delayed list. */
\r
1690 xNextTaskUnblockTime = portMAX_DELAY;
\r
1694 /* The new current delayed list is not empty, get the value of
\r
1695 the item at the head of the delayed list. This is the time at
\r
1696 which the task at the head of the delayed list should be removed
\r
1697 from the Blocked state. */
\r
1698 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1699 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1703 /* See if this tick has made a timeout expire. */
\r
1704 prvCheckDelayedTasks();
\r
1710 /* The tick hook gets called at regular intervals, even if the
\r
1711 scheduler is locked. */
\r
1712 #if ( configUSE_TICK_HOOK == 1 )
\r
1714 vApplicationTickHook();
\r
1719 #if ( configUSE_TICK_HOOK == 1 )
\r
1721 /* Guard against the tick hook being called when the missed tick
\r
1722 count is being unwound (when the scheduler is being unlocked. */
\r
1723 if( uxMissedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1725 vApplicationTickHook();
\r
1730 /*-----------------------------------------------------------*/
\r
1732 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1734 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1738 /* If xTask is NULL then we are setting our own task hook. */
\r
1739 if( xTask == NULL )
\r
1741 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1745 xTCB = ( tskTCB * ) xTask;
\r
1748 /* Save the hook function in the TCB. A critical section is required as
\r
1749 the value can be accessed from an interrupt. */
\r
1750 taskENTER_CRITICAL();
\r
1751 xTCB->pxTaskTag = pxHookFunction;
\r
1752 taskEXIT_CRITICAL();
\r
1756 /*-----------------------------------------------------------*/
\r
1758 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1760 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1763 pdTASK_HOOK_CODE xReturn;
\r
1765 /* If xTask is NULL then we are setting our own task hook. */
\r
1766 if( xTask == NULL )
\r
1768 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1772 xTCB = ( tskTCB * ) xTask;
\r
1775 /* Save the hook function in the TCB. A critical section is required as
\r
1776 the value can be accessed from an interrupt. */
\r
1777 taskENTER_CRITICAL();
\r
1778 xReturn = xTCB->pxTaskTag;
\r
1779 taskEXIT_CRITICAL();
\r
1785 /*-----------------------------------------------------------*/
\r
1787 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1789 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1792 portBASE_TYPE xReturn;
\r
1794 /* If xTask is NULL then we are calling our own task hook. */
\r
1795 if( xTask == NULL )
\r
1797 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1801 xTCB = ( tskTCB * ) xTask;
\r
1804 if( xTCB->pxTaskTag != NULL )
\r
1806 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1817 /*-----------------------------------------------------------*/
\r
1819 void vTaskSwitchContext( void )
\r
1821 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1823 /* The scheduler is currently suspended - do not allow a context
\r
1825 xMissedYield = pdTRUE;
\r
1829 traceTASK_SWITCHED_OUT();
\r
1831 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1833 unsigned long ulTempCounter;
\r
1835 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1836 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter );
\r
1838 ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
\r
1841 /* Add the amount of time the task has been running to the accumulated
\r
1842 time so far. The time the task started running was stored in
\r
1843 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1844 so count values are only valid until the timer overflows. Generally
\r
1845 this will be about 1 hour assuming a 1uS timer increment. */
\r
1846 pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
\r
1847 ulTaskSwitchedInTime = ulTempCounter;
\r
1851 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1852 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1854 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
1856 traceTASK_SWITCHED_IN();
\r
1859 /*-----------------------------------------------------------*/
\r
1861 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1863 portTickType xTimeToWake;
\r
1865 configASSERT( pxEventList );
\r
1867 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1868 SCHEDULER SUSPENDED. */
\r
1870 /* Place the event list item of the TCB in the appropriate event list.
\r
1871 This is placed in the list in priority order so the highest priority task
\r
1872 is the first to be woken by the event. */
\r
1873 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1875 /* We must remove ourselves from the ready list before adding ourselves
\r
1876 to the blocked list as the same list item is used for both lists. We have
\r
1877 exclusive access to the ready lists as the scheduler is locked. */
\r
1878 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1880 /* The current task must be in a ready list, so there is no need to
\r
1881 check, and the port reset macro can be called directly. */
\r
1882 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1885 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1887 if( xTicksToWait == portMAX_DELAY )
\r
1889 /* Add ourselves to the suspended task list instead of a delayed task
\r
1890 list to ensure we are not woken by a timing event. We will block
\r
1892 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1896 /* Calculate the time at which the task should be woken if the event does
\r
1897 not occur. This may overflow but this doesn't matter. */
\r
1898 xTimeToWake = xTickCount + xTicksToWait;
\r
1899 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1904 /* Calculate the time at which the task should be woken if the event does
\r
1905 not occur. This may overflow but this doesn't matter. */
\r
1906 xTimeToWake = xTickCount + xTicksToWait;
\r
1907 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1911 /*-----------------------------------------------------------*/
\r
1913 #if configUSE_TIMERS == 1
\r
1915 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1917 portTickType xTimeToWake;
\r
1919 configASSERT( pxEventList );
\r
1921 /* This function should not be called by application code hence the
\r
1922 'Restricted' in its name. It is not part of the public API. It is
\r
1923 designed for use by kernel code, and has special calling requirements -
\r
1924 it should be called from a critical section. */
\r
1927 /* Place the event list item of the TCB in the appropriate event list.
\r
1928 In this case it is assume that this is the only task that is going to
\r
1929 be waiting on this event list, so the faster vListInsertEnd() function
\r
1930 can be used in place of vListInsert. */
\r
1931 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1933 /* We must remove this task from the ready list before adding it to the
\r
1934 blocked list as the same list item is used for both lists. This
\r
1935 function is called form a critical section. */
\r
1936 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1938 /* The current task must be in a ready list, so there is no need to
\r
1939 check, and the port reset macro can be called directly. */
\r
1940 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1943 /* Calculate the time at which the task should be woken if the event does
\r
1944 not occur. This may overflow but this doesn't matter. */
\r
1945 xTimeToWake = xTickCount + xTicksToWait;
\r
1947 traceTASK_DELAY_UNTIL();
\r
1948 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1951 #endif /* configUSE_TIMERS */
\r
1952 /*-----------------------------------------------------------*/
\r
1954 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1956 tskTCB *pxUnblockedTCB;
\r
1957 portBASE_TYPE xReturn;
\r
1959 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1960 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1962 /* The event list is sorted in priority order, so we can remove the
\r
1963 first in the list, remove the TCB from the delayed list, and add
\r
1964 it to the ready list.
\r
1966 If an event is for a queue that is locked then this function will never
\r
1967 get called - the lock count on the queue will get modified instead. This
\r
1968 means we can always expect exclusive access to the event list here.
\r
1970 This function assumes that a check has already been made to ensure that
\r
1971 pxEventList is not empty. */
\r
1972 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1973 configASSERT( pxUnblockedTCB );
\r
1974 uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1976 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1978 uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1979 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1983 /* We cannot access the delayed or ready lists, so will hold this
\r
1984 task pending until the scheduler is resumed. */
\r
1985 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1988 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1990 /* Return true if the task removed from the event list has
\r
1991 a higher priority than the calling task. This allows
\r
1992 the calling task to know if it should force a context
\r
1998 xReturn = pdFALSE;
\r
2003 /*-----------------------------------------------------------*/
\r
2005 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
2007 configASSERT( pxTimeOut );
\r
2008 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2009 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2011 /*-----------------------------------------------------------*/
\r
2013 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
2015 portBASE_TYPE xReturn;
\r
2017 configASSERT( pxTimeOut );
\r
2018 configASSERT( pxTicksToWait );
\r
2020 taskENTER_CRITICAL();
\r
2022 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2023 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2024 the maximum block time then the task should block indefinitely, and
\r
2025 therefore never time out. */
\r
2026 if( *pxTicksToWait == portMAX_DELAY )
\r
2028 xReturn = pdFALSE;
\r
2030 else /* We are not blocking indefinitely, perform the checks below. */
\r
2033 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
2035 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2036 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2037 It must have wrapped all the way around and gone past us again. This
\r
2038 passed since vTaskSetTimeout() was called. */
\r
2041 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
2043 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2044 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
2045 vTaskSetTimeOutState( pxTimeOut );
\r
2046 xReturn = pdFALSE;
\r
2053 taskEXIT_CRITICAL();
\r
2057 /*-----------------------------------------------------------*/
\r
2059 void vTaskMissedYield( void )
\r
2061 xMissedYield = pdTRUE;
\r
2063 /*-----------------------------------------------------------*/
\r
2065 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2066 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
2068 unsigned portBASE_TYPE uxReturn;
\r
2071 if( xTask != NULL )
\r
2073 pxTCB = ( tskTCB * ) xTask;
\r
2074 uxReturn = pxTCB->uxTaskNumber;
\r
2084 /*-----------------------------------------------------------*/
\r
2086 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2087 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
2091 if( xTask != NULL )
\r
2093 pxTCB = ( tskTCB * ) xTask;
\r
2094 pxTCB->uxTaskNumber = uxHandle;
\r
2101 * -----------------------------------------------------------
\r
2103 * ----------------------------------------------------------
\r
2105 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2106 * language extensions. The equivalent prototype for this function is:
\r
2108 * void prvIdleTask( void *pvParameters );
\r
2111 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2113 /* Stop warnings. */
\r
2114 ( void ) pvParameters;
\r
2118 /* See if any tasks have been deleted. */
\r
2119 prvCheckTasksWaitingTermination();
\r
2121 #if ( configUSE_PREEMPTION == 0 )
\r
2123 /* If we are not using preemption we keep forcing a task switch to
\r
2124 see if any other task has become available. If we are using
\r
2125 preemption we don't need to do this as any task becoming available
\r
2126 will automatically get the processor anyway. */
\r
2131 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2133 /* When using preemption tasks of equal priority will be
\r
2134 timesliced. If a task that is sharing the idle priority is ready
\r
2135 to run then the idle task should yield before the end of the
\r
2138 A critical region is not required here as we are just reading from
\r
2139 the list, and an occasional incorrect value will not matter. If
\r
2140 the ready list at the idle priority contains more than one task
\r
2141 then a task other than the idle task is ready to execute. */
\r
2142 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2149 #if ( configUSE_IDLE_HOOK == 1 )
\r
2151 extern void vApplicationIdleHook( void );
\r
2153 /* Call the user defined function from within the idle task. This
\r
2154 allows the application designer to add background functionality
\r
2155 without the overhead of a separate task.
\r
2156 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2157 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2158 vApplicationIdleHook();
\r
2162 /* This conditional compilation should use inequality to 0, not equality
\r
2163 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2164 user defined low power mode implementations require
\r
2165 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2166 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2168 portTickType xExpectedIdleTime;
\r
2169 /* If the expected idle time is 1 then the idle time would end at
\r
2170 the end of the current time slice. The idle time must be at least
\r
2171 2 to ensure any pended ticks between this point and the tick being
\r
2172 stopped can be legitimately stepped over when the tick suppression
\r
2173 routines returns. */
\r
2174 const portTickType xMinimumExpectedIdleTime = ( portTickType ) 2;
\r
2176 /* It is not desirable to suspend then resume the scheduler on
\r
2177 each iteration of the idle task. Therefore, a preliminary
\r
2178 test of the expected idle time is performed without the
\r
2179 scheduler suspended. The result here is not necessarily
\r
2181 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2183 if( xExpectedIdleTime >= xMinimumExpectedIdleTime )
\r
2185 vTaskSuspendAll();
\r
2187 /* Now the scheduler is suspended, the expected idle
\r
2188 time can be sampled again, and this time its value can
\r
2190 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2191 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2193 if( xExpectedIdleTime >= xMinimumExpectedIdleTime )
\r
2195 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2203 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
2211 /*-----------------------------------------------------------
\r
2212 * File private functions documented at the top of the file.
\r
2213 *----------------------------------------------------------*/
\r
2217 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2219 /* Store the function name in the TCB. */
\r
2220 #if configMAX_TASK_NAME_LEN > 1
\r
2222 /* Don't bring strncpy into the build unnecessarily. */
\r
2223 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
2226 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
\r
2228 /* This is used as an array index so must ensure it's not too large. First
\r
2229 remove the privilege bit if one is present. */
\r
2230 if( uxPriority >= configMAX_PRIORITIES )
\r
2232 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2235 pxTCB->uxPriority = uxPriority;
\r
2236 #if ( configUSE_MUTEXES == 1 )
\r
2238 pxTCB->uxBasePriority = uxPriority;
\r
2242 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2243 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2245 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2246 back to the containing TCB from a generic item in a list. */
\r
2247 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2249 /* Event lists are always in priority order. */
\r
2250 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
2251 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2253 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2255 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2259 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2261 pxTCB->pxTaskTag = NULL;
\r
2265 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2267 pxTCB->ulRunTimeCounter = 0UL;
\r
2271 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2273 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2277 ( void ) xRegions;
\r
2278 ( void ) usStackDepth;
\r
2282 /*-----------------------------------------------------------*/
\r
2284 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2286 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2290 if( xTaskToModify == pxCurrentTCB )
\r
2292 xTaskToModify = NULL;
\r
2295 /* If null is passed in here then we are deleting ourselves. */
\r
2296 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2298 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2300 /*-----------------------------------------------------------*/
\r
2303 static void prvInitialiseTaskLists( void )
\r
2305 unsigned portBASE_TYPE uxPriority;
\r
2307 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2309 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2312 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2313 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2314 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2316 #if ( INCLUDE_vTaskDelete == 1 )
\r
2318 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2322 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2324 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2328 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2330 pxDelayedTaskList = &xDelayedTaskList1;
\r
2331 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2333 /*-----------------------------------------------------------*/
\r
2335 static void prvCheckTasksWaitingTermination( void )
\r
2337 #if ( INCLUDE_vTaskDelete == 1 )
\r
2339 portBASE_TYPE xListIsEmpty;
\r
2341 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2342 too often in the idle task. */
\r
2343 while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2345 vTaskSuspendAll();
\r
2346 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2349 if( xListIsEmpty == pdFALSE )
\r
2353 taskENTER_CRITICAL();
\r
2355 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2356 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2357 --uxCurrentNumberOfTasks;
\r
2360 taskEXIT_CRITICAL();
\r
2362 prvDeleteTCB( pxTCB );
\r
2368 /*-----------------------------------------------------------*/
\r
2370 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2372 /* The list item will be inserted in wake time order. */
\r
2373 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2375 if( xTimeToWake < xTickCount )
\r
2377 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2378 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2382 /* The wake time has not overflowed, so we can use the current block list. */
\r
2383 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2385 /* If the task entering the blocked state was placed at the head of the
\r
2386 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2388 if( xTimeToWake < xNextTaskUnblockTime )
\r
2390 xNextTaskUnblockTime = xTimeToWake;
\r
2394 /*-----------------------------------------------------------*/
\r
2396 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2400 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2401 the implementation of the port malloc function. */
\r
2402 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2404 if( pxNewTCB != NULL )
\r
2406 /* Allocate space for the stack used by the task being created.
\r
2407 The base of the stack memory stored in the TCB so the task can
\r
2408 be deleted later if required. */
\r
2409 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2411 if( pxNewTCB->pxStack == NULL )
\r
2413 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2414 vPortFree( pxNewTCB );
\r
2419 /* Just to help debugging. */
\r
2420 memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2426 /*-----------------------------------------------------------*/
\r
2428 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2430 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2432 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2433 unsigned short usStackRemaining;
\r
2434 PRIVILEGED_DATA static char pcStatusString[ configMAX_TASK_NAME_LEN + 30 ];
\r
2436 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2437 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2440 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2441 #if ( portSTACK_GROWTH > 0 )
\r
2443 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2447 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2451 sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, ( unsigned int ) usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
\r
2452 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2454 } while( pxNextTCB != pxFirstTCB );
\r
2458 /*-----------------------------------------------------------*/
\r
2460 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2462 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
\r
2464 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2465 unsigned long ulStatsAsPercentage;
\r
2467 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2468 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2471 /* Get next TCB in from the list. */
\r
2472 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2474 /* Divide by zero check. */
\r
2475 if( ulTotalRunTime > 0UL )
\r
2477 /* Has the task run at all? */
\r
2478 if( pxNextTCB->ulRunTimeCounter == 0UL )
\r
2480 /* The task has used no CPU time at all. */
\r
2481 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2485 /* What percentage of the total run time has the task used?
\r
2486 This will always be rounded down to the nearest integer.
\r
2487 ulTotalRunTime has already been divided by 100. */
\r
2488 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime;
\r
2490 if( ulStatsAsPercentage > 0UL )
\r
2492 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2494 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2498 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2499 printf() library can be used. */
\r
2500 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2506 /* If the percentage is zero here then the task has
\r
2507 consumed less than 1% of the total run time. */
\r
2508 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2510 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2514 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2515 printf() library can be used. */
\r
2516 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2522 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2525 } while( pxNextTCB != pxFirstTCB );
\r
2529 /*-----------------------------------------------------------*/
\r
2531 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2533 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2535 register unsigned short usCount = 0U;
\r
2537 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2539 pucStackByte -= portSTACK_GROWTH;
\r
2543 usCount /= sizeof( portSTACK_TYPE );
\r
2549 /*-----------------------------------------------------------*/
\r
2551 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2553 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2556 unsigned char *pcEndOfStack;
\r
2557 unsigned portBASE_TYPE uxReturn;
\r
2559 pxTCB = prvGetTCBFromHandle( xTask );
\r
2561 #if portSTACK_GROWTH < 0
\r
2563 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2567 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2571 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2577 /*-----------------------------------------------------------*/
\r
2579 #if ( INCLUDE_vTaskDelete == 1 )
\r
2581 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2583 /* This call is required specifically for the TriCore port. It must be
\r
2584 above the vPortFree() calls. The call is also used by ports/demos that
\r
2585 want to allocate and clean RAM statically. */
\r
2586 portCLEAN_UP_TCB( pxTCB );
\r
2588 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2589 the task to free any memory allocated at the application level. */
\r
2590 vPortFreeAligned( pxTCB->pxStack );
\r
2591 vPortFree( pxTCB );
\r
2597 /*-----------------------------------------------------------*/
\r
2599 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2601 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2603 xTaskHandle xReturn;
\r
2605 /* A critical section is not required as this is not called from
\r
2606 an interrupt and the current TCB will always be the same for any
\r
2607 individual execution thread. */
\r
2608 xReturn = pxCurrentTCB;
\r
2615 /*-----------------------------------------------------------*/
\r
2617 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2619 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2621 portBASE_TYPE xReturn;
\r
2623 if( xSchedulerRunning == pdFALSE )
\r
2625 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2629 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2631 xReturn = taskSCHEDULER_RUNNING;
\r
2635 xReturn = taskSCHEDULER_SUSPENDED;
\r
2643 /*-----------------------------------------------------------*/
\r
2645 #if ( configUSE_MUTEXES == 1 )
\r
2647 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2649 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2651 /* If the mutex was given back by an interrupt while the queue was
\r
2652 locked then the mutex holder might now be NULL. */
\r
2653 if( pxMutexHolder != NULL )
\r
2655 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2657 /* Adjust the mutex holder state to account for its new priority. */
\r
2658 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2660 /* If the task being modified is in the ready state it will need to
\r
2661 be moved into a new list. */
\r
2662 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2664 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2666 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2669 /* Inherit the priority before being moved into the new list. */
\r
2670 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2671 prvAddTaskToReadyQueue( pxTCB );
\r
2675 /* Just inherit the priority. */
\r
2676 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2679 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2685 /*-----------------------------------------------------------*/
\r
2687 #if ( configUSE_MUTEXES == 1 )
\r
2689 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2691 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2693 if( pxMutexHolder != NULL )
\r
2695 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2697 /* We must be the running task to be able to give the mutex back.
\r
2698 Remove ourselves from the ready list we currently appear in. */
\r
2699 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2701 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2704 /* Disinherit the priority before adding the task into the new
\r
2706 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2707 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2708 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2709 prvAddTaskToReadyQueue( pxTCB );
\r
2715 /*-----------------------------------------------------------*/
\r
2717 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2719 void vTaskEnterCritical( void )
\r
2721 portDISABLE_INTERRUPTS();
\r
2723 if( xSchedulerRunning != pdFALSE )
\r
2725 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2730 /*-----------------------------------------------------------*/
\r
2732 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2734 void vTaskExitCritical( void )
\r
2736 if( xSchedulerRunning != pdFALSE )
\r
2738 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2740 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2742 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2744 portENABLE_INTERRUPTS();
\r
2751 /*-----------------------------------------------------------*/
\r
projects / freertos / blob