2 FreeRTOS V7.4.2 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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75 /* Standard includes. */
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80 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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81 all the API functions to use the MPU wrappers. That should only be done when
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82 task.h is included from an application file. */
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83 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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85 /* FreeRTOS includes. */
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86 #include "FreeRTOS.h"
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89 #include "StackMacros.h"
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91 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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93 /* Sanity check the configuration. */
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94 #if configUSE_TICKLESS_IDLE != 0
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95 #if INCLUDE_vTaskSuspend != 1
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96 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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97 #endif /* INCLUDE_vTaskSuspend */
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98 #endif /* configUSE_TICKLESS_IDLE */
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101 * Defines the size, in words, of the stack allocated to the idle task.
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103 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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106 * Task control block. A task control block (TCB) is allocated for each task,
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107 * and stores task state information, including a pointer to the task's context
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108 * (the task's run time environment, including register values)
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110 typedef struct tskTaskControlBlock
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112 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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114 #if ( portUSING_MPU_WRAPPERS == 1 )
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115 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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118 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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119 xListItem xEventListItem; /*< Used to reference a task from an event list. */
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120 unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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121 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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122 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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124 #if ( portSTACK_GROWTH > 0 )
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125 portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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128 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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129 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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132 #if ( configUSE_TRACE_FACILITY == 1 )
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133 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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134 unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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137 #if ( configUSE_MUTEXES == 1 )
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138 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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141 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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142 pdTASK_HOOK_CODE pxTaskTag;
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145 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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146 unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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153 * Some kernel aware debuggers require the data the debugger needs access to to
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154 * be global, rather than file scope.
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156 #ifdef portREMOVE_STATIC_QUALIFIER
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161 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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163 /* Lists for ready and blocked tasks. --------------------*/
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164 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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165 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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166 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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167 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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168 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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169 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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171 #if ( INCLUDE_vTaskDelete == 1 )
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173 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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174 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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178 #if ( INCLUDE_vTaskSuspend == 1 )
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180 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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184 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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186 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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190 /* File private variables. --------------------------------*/
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191 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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192 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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193 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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194 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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195 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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196 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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197 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxPendedTicks = ( unsigned portBASE_TYPE ) 0U;
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198 PRIVILEGED_DATA static volatile portBASE_TYPE xYieldPending = ( portBASE_TYPE ) pdFALSE;
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199 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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200 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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201 PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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203 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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205 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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206 PRIVILEGED_DATA static unsigned long ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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207 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTimeDiv100 ) PRIVILEGED_FUNCTION;
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211 /* Debugging and trace facilities private variables and macros. ------------*/
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214 * The value used to fill the stack of a task when the task is created. This
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215 * is used purely for checking the high water mark for tasks.
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217 #define tskSTACK_FILL_BYTE ( 0xa5U )
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220 * Macros used by vListTask to indicate which state a task is in.
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222 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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223 #define tskREADY_CHAR ( ( signed char ) 'R' )
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224 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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225 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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227 /*-----------------------------------------------------------*/
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229 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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231 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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232 performed in a generic way that is not optimised to any particular
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233 microcontroller architecture. */
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235 /* uxTopReadyPriority holds the priority of the highest priority ready
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237 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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239 if( ( uxPriority ) > uxTopReadyPriority ) \
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241 uxTopReadyPriority = ( uxPriority ); \
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243 } /* taskRECORD_READY_PRIORITY */
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245 /*-----------------------------------------------------------*/
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247 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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249 /* Find the highest priority queue that contains ready tasks. */ \
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250 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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252 configASSERT( uxTopReadyPriority ); \
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253 --uxTopReadyPriority; \
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256 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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257 the same priority get an equal share of the processor time. */ \
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258 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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259 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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261 /*-----------------------------------------------------------*/
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263 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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264 they are only required when a port optimised method of task selection is
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266 #define taskRESET_READY_PRIORITY( uxPriority )
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267 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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269 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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271 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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272 performed in a way that is tailored to the particular microcontroller
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273 architecture being used. */
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275 /* A port optimised version is provided. Call the port defined macros. */
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276 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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278 /*-----------------------------------------------------------*/
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280 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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282 unsigned portBASE_TYPE uxTopPriority; \
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284 /* Find the highest priority queue that contains ready tasks. */ \
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285 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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286 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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287 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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288 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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290 /*-----------------------------------------------------------*/
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292 /* A port optimised version is provided, call it only if the TCB being reset
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293 is being referenced from a ready list. If it is referenced from a delayed
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294 or suspended list then it won't be in a ready list. */
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295 #define taskRESET_READY_PRIORITY( uxPriority ) \
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297 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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299 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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303 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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305 /*-----------------------------------------------------------*/
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307 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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308 count overflows. */
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309 #define taskSWITCH_DELAYED_LISTS() \
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313 /* The delayed tasks list should be empty when the lists are switched. */ \
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314 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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316 pxTemp = pxDelayedTaskList; \
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317 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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318 pxOverflowDelayedTaskList = pxTemp; \
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319 xNumOfOverflows++; \
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321 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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323 /* The new current delayed list is empty. Set \
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324 xNextTaskUnblockTime to the maximum possible value so it is \
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325 extremely unlikely that the \
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326 if( xTickCount >= xNextTaskUnblockTime ) test will pass until \
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327 there is an item in the delayed list. */ \
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328 xNextTaskUnblockTime = portMAX_DELAY; \
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332 /* The new current delayed list is not empty, get the value of \
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333 the item at the head of the delayed list. This is the time at \
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334 which the task at the head of the delayed list should be removed \
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335 from the Blocked state. */ \
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336 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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337 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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341 /*-----------------------------------------------------------*/
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344 * Place the task represented by pxTCB into the appropriate ready queue for
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345 * the task. It is inserted at the end of the list. One quirk of this is
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346 * that if the task being inserted is at the same priority as the currently
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347 * executing task, then it will only be rescheduled after the currently
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348 * executing task has been rescheduled.
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350 #define prvAddTaskToReadyQueue( pxTCB ) \
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351 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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352 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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353 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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354 /*-----------------------------------------------------------*/
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357 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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358 * where NULL is used to indicate that the handle of the currently executing
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359 * task should be used in place of the parameter. This macro simply checks to
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360 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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362 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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364 /* Callback function prototypes. --------------------------*/
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365 extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
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366 extern void vApplicationTickHook( void );
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368 /* File private functions. --------------------------------*/
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371 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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372 * into the TCB structure.
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374 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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377 * Utility to ready all the lists used by the scheduler. This is called
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378 * automatically upon the creation of the first task.
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380 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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383 * The idle task, which as all tasks is implemented as a never ending loop.
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384 * The idle task is automatically created and added to the ready lists upon
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385 * creation of the first user task.
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387 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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388 * language extensions. The equivalent prototype for this function is:
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390 * void prvIdleTask( void *pvParameters );
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393 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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396 * Utility to free all memory allocated by the scheduler to hold a TCB,
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397 * including the stack pointed to by the TCB.
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399 * This does not free memory allocated by the task itself (i.e. memory
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400 * allocated by calls to pvPortMalloc from within the tasks application code).
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402 #if ( INCLUDE_vTaskDelete == 1 )
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404 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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409 * Used only by the idle task. This checks to see if anything has been placed
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410 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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411 * and its TCB deleted.
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413 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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416 * The currently executing task is entering the Blocked state. Add the task to
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417 * either the current or the overflow delayed task list.
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419 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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422 * Allocates memory from the heap for a TCB and associated stack. Checks the
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423 * allocation was successful.
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425 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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428 * Called from vTaskList. vListTasks details all the tasks currently under
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429 * control of the scheduler. The tasks may be in one of a number of lists.
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430 * prvListTaskWithinSingleList accepts a list and details the tasks from
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431 * within just that list.
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433 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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434 * NORMAL APPLICATION CODE.
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436 #if ( configUSE_TRACE_FACILITY == 1 )
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438 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
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443 * When a task is created, the stack of the task is filled with a known value.
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444 * This function determines the 'high water mark' of the task stack by
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445 * determining how much of the stack remains at the original preset value.
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447 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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449 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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454 * Return the amount of time, in ticks, that will pass before the kernel will
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455 * next move a task from the Blocked state to the Running state.
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457 * This conditional compilation should use inequality to 0, not equality to 1.
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458 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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459 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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460 * set to a value other than 1.
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462 #if ( configUSE_TICKLESS_IDLE != 0 )
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464 static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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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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512 #else /* portSTACK_GROWTH */
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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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524 #endif /* portSTACK_GROWTH */
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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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537 #else /* portUSING_MPU_WRAPPERS */
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539 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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541 #endif /* portUSING_MPU_WRAPPERS */
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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;
\r
554 /* We are going to manipulate the task queues to add this task to a
\r
555 ready list, so must make sure no interrupts occur. */
\r
556 taskENTER_CRITICAL();
\r
558 uxCurrentNumberOfTasks++;
\r
559 if( pxCurrentTCB == NULL )
\r
561 /* There are no other tasks, or all the other tasks are in
\r
562 the suspended state - make this the current task. */
\r
563 pxCurrentTCB = pxNewTCB;
\r
565 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
567 /* This is the first task to be created so do the preliminary
\r
568 initialisation required. We will not recover if this call
\r
569 fails, but we will report the failure. */
\r
570 prvInitialiseTaskLists();
\r
575 /* If the scheduler is not already running, make this task the
\r
576 current task if it is the highest priority task to be created
\r
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
596 #if ( configUSE_TRACE_FACILITY == 1 )
\r
598 /* Add a counter into the TCB for tracing only. */
\r
599 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
601 #endif /* configUSE_TRACE_FACILITY */
\r
602 traceTASK_CREATE( pxNewTCB );
\r
604 prvAddTaskToReadyQueue( pxNewTCB );
\r
607 portSETUP_TCB( pxNewTCB );
\r
609 taskEXIT_CRITICAL();
\r
613 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
614 traceTASK_CREATE_FAILED();
\r
617 if( xReturn == pdPASS )
\r
619 if( xSchedulerRunning != pdFALSE )
\r
621 /* If the created task is of a higher priority than the current task
\r
622 then it should run now. */
\r
623 if( pxCurrentTCB->uxPriority < uxPriority )
\r
625 portYIELD_WITHIN_API();
\r
632 /*-----------------------------------------------------------*/
\r
634 #if ( INCLUDE_vTaskDelete == 1 )
\r
636 void vTaskDelete( xTaskHandle xTaskToDelete )
\r
640 taskENTER_CRITICAL();
\r
642 /* Ensure a yield is performed if the current task is being
\r
644 if( xTaskToDelete == pxCurrentTCB )
\r
646 xTaskToDelete = NULL;
\r
649 /* If null is passed in here then we are deleting ourselves. */
\r
650 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
652 /* Remove task from the ready list and place in the termination list.
\r
653 This will stop the task from be scheduled. The idle task will check
\r
654 the termination list and free up any memory allocated by the
\r
655 scheduler for the TCB and stack. */
\r
656 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
658 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
661 /* Is the task waiting on an event also? */
\r
662 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
664 uxListRemove( &( pxTCB->xEventListItem ) );
\r
667 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
669 /* Increment the ucTasksDeleted variable so the idle task knows
\r
670 there is a task that has been deleted and that it should therefore
\r
671 check the xTasksWaitingTermination list. */
\r
674 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
675 can detect that the task lists need re-generating. */
\r
678 traceTASK_DELETE( pxTCB );
\r
680 taskEXIT_CRITICAL();
\r
682 /* Force a reschedule if we have just deleted the current task. */
\r
683 if( xSchedulerRunning != pdFALSE )
\r
685 if( ( void * ) xTaskToDelete == NULL )
\r
687 portYIELD_WITHIN_API();
\r
692 #endif /* INCLUDE_vTaskDelete */
\r
693 /*-----------------------------------------------------------*/
\r
695 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
697 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
699 portTickType xTimeToWake;
\r
700 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
702 configASSERT( pxPreviousWakeTime );
\r
703 configASSERT( ( xTimeIncrement > 0U ) );
\r
707 /* Generate the tick time at which the task wants to wake. */
\r
708 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
710 if( xTickCount < *pxPreviousWakeTime )
\r
712 /* The tick count has overflowed since this function was
\r
713 lasted called. In this case the only time we should ever
\r
714 actually delay is if the wake time has also overflowed,
\r
715 and the wake time is greater than the tick time. When this
\r
716 is the case it is as if neither time had overflowed. */
\r
717 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
719 xShouldDelay = pdTRUE;
\r
724 /* The tick time has not overflowed. In this case we will
\r
725 delay if either the wake time has overflowed, and/or the
\r
726 tick time is less than the wake time. */
\r
727 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
729 xShouldDelay = pdTRUE;
\r
733 /* Update the wake time ready for the next call. */
\r
734 *pxPreviousWakeTime = xTimeToWake;
\r
736 if( xShouldDelay != pdFALSE )
\r
738 traceTASK_DELAY_UNTIL();
\r
740 /* We must remove ourselves from the ready list before adding
\r
741 ourselves to the blocked list as the same list item is used for
\r
743 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
745 /* The current task must be in a ready list, so there is
\r
746 no need to check, and the port reset macro can be called
\r
748 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
751 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
754 xAlreadyYielded = xTaskResumeAll();
\r
756 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
757 have put ourselves to sleep. */
\r
758 if( xAlreadyYielded == pdFALSE )
\r
760 portYIELD_WITHIN_API();
\r
764 #endif /* INCLUDE_vTaskDelayUntil */
\r
765 /*-----------------------------------------------------------*/
\r
767 #if ( INCLUDE_vTaskDelay == 1 )
\r
769 void vTaskDelay( portTickType xTicksToDelay )
\r
771 portTickType xTimeToWake;
\r
772 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
774 /* A delay time of zero just forces a reschedule. */
\r
775 if( xTicksToDelay > ( portTickType ) 0U )
\r
781 /* A task that is removed from the event list while the
\r
782 scheduler is suspended will not get placed in the ready
\r
783 list or removed from the blocked list until the scheduler
\r
786 This task cannot be in an event list as it is the currently
\r
789 /* Calculate the time to wake - this may overflow but this is
\r
791 xTimeToWake = xTickCount + xTicksToDelay;
\r
793 /* We must remove ourselves from the ready list before adding
\r
794 ourselves to the blocked list as the same list item is used for
\r
796 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
798 /* The current task must be in a ready list, so there is
\r
799 no need to check, and the port reset macro can be called
\r
801 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
803 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
805 xAlreadyYielded = xTaskResumeAll();
\r
808 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
809 have put ourselves to sleep. */
\r
810 if( xAlreadyYielded == pdFALSE )
\r
812 portYIELD_WITHIN_API();
\r
816 #endif /* INCLUDE_vTaskDelay */
\r
817 /*-----------------------------------------------------------*/
\r
819 #if ( INCLUDE_eTaskGetState == 1 )
\r
821 eTaskState eTaskGetState( xTaskHandle xTask )
\r
823 eTaskState eReturn;
\r
824 xList *pxStateList;
\r
827 pxTCB = ( tskTCB * ) xTask;
\r
829 if( pxTCB == pxCurrentTCB )
\r
831 /* The task calling this function is querying its own state. */
\r
832 eReturn = eRunning;
\r
836 taskENTER_CRITICAL();
\r
838 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
840 taskEXIT_CRITICAL();
\r
842 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
844 /* The task being queried is referenced from one of the Blocked
\r
846 eReturn = eBlocked;
\r
849 #if ( INCLUDE_vTaskSuspend == 1 )
\r
850 else if( pxStateList == &xSuspendedTaskList )
\r
852 /* The task being queried is referenced from the suspended
\r
854 eReturn = eSuspended;
\r
858 #if ( INCLUDE_vTaskDelete == 1 )
\r
859 else if( pxStateList == &xTasksWaitingTermination )
\r
861 /* The task being queried is referenced from the deleted
\r
863 eReturn = eDeleted;
\r
869 /* If the task is not in any other state, it must be in the
\r
870 Ready (including pending ready) state. */
\r
878 #endif /* INCLUDE_eTaskGetState */
\r
879 /*-----------------------------------------------------------*/
\r
881 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
883 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
\r
886 unsigned portBASE_TYPE uxReturn;
\r
888 taskENTER_CRITICAL();
\r
890 /* If null is passed in here then we are changing the
\r
891 priority of the calling function. */
\r
892 pxTCB = prvGetTCBFromHandle( xTask );
\r
893 uxReturn = pxTCB->uxPriority;
\r
895 taskEXIT_CRITICAL();
\r
900 #endif /* INCLUDE_uxTaskPriorityGet */
\r
901 /*-----------------------------------------------------------*/
\r
903 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
905 void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
\r
908 unsigned portBASE_TYPE uxCurrentPriority, uxPriorityUsedOnEntry;
\r
909 portBASE_TYPE xYieldRequired = pdFALSE;
\r
911 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
913 /* Ensure the new priority is valid. */
\r
914 if( uxNewPriority >= configMAX_PRIORITIES )
\r
916 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
919 taskENTER_CRITICAL();
\r
921 if( xTask == ( xTaskHandle ) pxCurrentTCB )
\r
926 /* If null is passed in here then we are changing the
\r
927 priority of the calling function. */
\r
928 pxTCB = prvGetTCBFromHandle( xTask );
\r
930 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
932 #if ( configUSE_MUTEXES == 1 )
\r
934 uxCurrentPriority = pxTCB->uxBasePriority;
\r
938 uxCurrentPriority = pxTCB->uxPriority;
\r
942 if( uxCurrentPriority != uxNewPriority )
\r
944 /* The priority change may have readied a task of higher
\r
945 priority than the calling task. */
\r
946 if( uxNewPriority > uxCurrentPriority )
\r
948 if( xTask != NULL )
\r
950 /* The priority of another task is being raised. If we
\r
951 were raising the priority of the currently running task
\r
952 there would be no need to switch as it must have already
\r
953 been the highest priority task. */
\r
954 xYieldRequired = pdTRUE;
\r
957 else if( xTask == NULL )
\r
959 /* Setting our own priority down means there may now be another
\r
960 task of higher priority that is ready to execute. */
\r
961 xYieldRequired = pdTRUE;
\r
964 /* Remember the ready list the task might be referenced from
\r
965 before its uxPriority member is changed so the
\r
966 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
967 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
969 #if ( configUSE_MUTEXES == 1 )
\r
971 /* Only change the priority being used if the task is not
\r
972 currently using an inherited priority. */
\r
973 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
975 pxTCB->uxPriority = uxNewPriority;
\r
978 /* The base priority gets set whatever. */
\r
979 pxTCB->uxBasePriority = uxNewPriority;
\r
983 pxTCB->uxPriority = uxNewPriority;
\r
987 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
989 /* If the task is in the blocked or suspended list we need do
\r
990 nothing more than change it's priority variable. However, if
\r
991 the task is in a ready list it needs to be removed and placed
\r
992 in the queue appropriate to its new priority. */
\r
993 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
995 /* The task is currently in its ready list - remove before adding
\r
996 it to it's new ready list. As we are in a critical section we
\r
997 can do this even if the scheduler is suspended. */
\r
998 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1000 taskRESET_READY_PRIORITY( uxPriorityUsedOnEntry );
\r
1002 prvAddTaskToReadyQueue( pxTCB );
\r
1005 if( xYieldRequired == pdTRUE )
\r
1007 portYIELD_WITHIN_API();
\r
1010 /* Remove compiler warning about unused variables when the port
\r
1011 optimised task selection is not being used. */
\r
1012 ( void ) uxPriorityUsedOnEntry;
\r
1015 taskEXIT_CRITICAL();
\r
1018 #endif /* INCLUDE_vTaskPrioritySet */
\r
1019 /*-----------------------------------------------------------*/
\r
1021 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1023 void vTaskSuspend( xTaskHandle xTaskToSuspend )
\r
1027 taskENTER_CRITICAL();
\r
1029 /* Ensure a yield is performed if the current task is being
\r
1031 if( xTaskToSuspend == ( xTaskHandle ) pxCurrentTCB )
\r
1033 xTaskToSuspend = NULL;
\r
1036 /* If null is passed in here then we are suspending ourselves. */
\r
1037 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1039 traceTASK_SUSPEND( pxTCB );
\r
1041 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
1042 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1044 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1047 /* Is the task waiting on an event also? */
\r
1048 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
1050 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1053 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1055 taskEXIT_CRITICAL();
\r
1057 if( ( void * ) xTaskToSuspend == NULL )
\r
1059 if( xSchedulerRunning != pdFALSE )
\r
1061 /* We have just suspended the current task. */
\r
1062 portYIELD_WITHIN_API();
\r
1066 /* The scheduler is not running, but the task that was pointed
\r
1067 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1068 must be adjusted to point to a different task. */
\r
1069 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1071 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1072 NULL so when the next task is created pxCurrentTCB will
\r
1073 be set to point to it no matter what its relative priority
\r
1075 pxCurrentTCB = NULL;
\r
1079 vTaskSwitchContext();
\r
1085 #endif /* INCLUDE_vTaskSuspend */
\r
1086 /*-----------------------------------------------------------*/
\r
1088 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1090 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
1092 portBASE_TYPE xReturn = pdFALSE;
\r
1093 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1095 /* It does not make sense to check if the calling task is suspended. */
\r
1096 configASSERT( xTask );
\r
1098 /* Is the task we are attempting to resume actually in the
\r
1099 suspended list? */
\r
1100 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1102 /* Has the task already been resumed from within an ISR? */
\r
1103 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
1105 /* Is it in the suspended list because it is in the
\r
1106 Suspended state? It is possible to be in the suspended
\r
1107 list because it is blocked on a task with no timeout
\r
1109 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
1119 #endif /* INCLUDE_vTaskSuspend */
\r
1120 /*-----------------------------------------------------------*/
\r
1122 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1124 void vTaskResume( xTaskHandle xTaskToResume )
\r
1128 /* It does not make sense to resume the calling task. */
\r
1129 configASSERT( xTaskToResume );
\r
1131 /* Remove the task from whichever list it is currently in, and place
\r
1132 it in the ready list. */
\r
1133 pxTCB = ( tskTCB * ) xTaskToResume;
\r
1135 /* The parameter cannot be NULL as it is impossible to resume the
\r
1136 currently executing task. */
\r
1137 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1139 taskENTER_CRITICAL();
\r
1141 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1143 traceTASK_RESUME( pxTCB );
\r
1145 /* As we are in a critical section we can access the ready
\r
1146 lists even if the scheduler is suspended. */
\r
1147 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1148 prvAddTaskToReadyQueue( pxTCB );
\r
1150 /* We may have just resumed a higher priority task. */
\r
1151 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1153 /* This yield may not cause the task just resumed to run, but
\r
1154 will leave the lists in the correct state for the next yield. */
\r
1155 portYIELD_WITHIN_API();
\r
1159 taskEXIT_CRITICAL();
\r
1163 #endif /* INCLUDE_vTaskSuspend */
\r
1165 /*-----------------------------------------------------------*/
\r
1167 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1169 portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
\r
1171 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1173 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1175 configASSERT( xTaskToResume );
\r
1177 pxTCB = ( tskTCB * ) xTaskToResume;
\r
1179 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1181 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1183 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1185 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1187 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1188 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1189 prvAddTaskToReadyQueue( pxTCB );
\r
1193 /* We cannot access the delayed or ready lists, so will hold this
\r
1194 task pending until the scheduler is resumed, at which point a
\r
1195 yield will be performed if necessary. */
\r
1196 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1200 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1202 return xYieldRequired;
\r
1205 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1206 /*-----------------------------------------------------------*/
\r
1208 void vTaskStartScheduler( void )
\r
1210 portBASE_TYPE xReturn;
\r
1212 /* Add the idle task at the lowest priority. */
\r
1213 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1215 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1216 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1217 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );
\r
1221 /* Create the idle task without storing its handle. */
\r
1222 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
\r
1224 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1226 #if ( configUSE_TIMERS == 1 )
\r
1228 if( xReturn == pdPASS )
\r
1230 xReturn = xTimerCreateTimerTask();
\r
1233 #endif /* configUSE_TIMERS */
\r
1235 if( xReturn == pdPASS )
\r
1237 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1238 before or during the call to xPortStartScheduler(). The stacks of
\r
1239 the created tasks contain a status word with interrupts switched on
\r
1240 so interrupts will automatically get re-enabled when the first task
\r
1243 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1244 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1245 portDISABLE_INTERRUPTS();
\r
1247 xSchedulerRunning = pdTRUE;
\r
1248 xTickCount = ( portTickType ) 0U;
\r
1250 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1251 macro must be defined to configure the timer/counter used to generate
\r
1252 the run time counter time base. */
\r
1253 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1255 /* Setting up the timer tick is hardware specific and thus in the
\r
1256 portable interface. */
\r
1257 if( xPortStartScheduler() != pdFALSE )
\r
1259 /* Should not reach here as if the scheduler is running the
\r
1260 function will not return. */
\r
1264 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1269 /* This line will only be reached if the kernel could not be started,
\r
1270 because there was not enough FreeRTOS heap to create the idle task
\r
1271 or the timer task. */
\r
1272 configASSERT( xReturn );
\r
1275 /*-----------------------------------------------------------*/
\r
1277 void vTaskEndScheduler( void )
\r
1279 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1280 routine so the original ISRs can be restored if necessary. The port
\r
1281 layer must ensure interrupts enable bit is left in the correct state. */
\r
1282 portDISABLE_INTERRUPTS();
\r
1283 xSchedulerRunning = pdFALSE;
\r
1284 vPortEndScheduler();
\r
1286 /*----------------------------------------------------------*/
\r
1288 void vTaskSuspendAll( void )
\r
1290 /* A critical section is not required as the variable is of type
\r
1292 ++uxSchedulerSuspended;
\r
1294 /*----------------------------------------------------------*/
\r
1296 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1298 static portTickType prvGetExpectedIdleTime( void )
\r
1300 portTickType xReturn;
\r
1302 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1306 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1308 /* There are other idle priority tasks in the ready state. If
\r
1309 time slicing is used then the very next tick interrupt must be
\r
1315 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1321 #endif /* configUSE_TICKLESS_IDLE */
\r
1322 /*----------------------------------------------------------*/
\r
1324 signed portBASE_TYPE xTaskResumeAll( void )
\r
1326 register tskTCB *pxTCB;
\r
1327 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1328 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1330 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1331 previous call to vTaskSuspendAll(). */
\r
1332 configASSERT( uxSchedulerSuspended );
\r
1334 /* It is possible that an ISR caused a task to be removed from an event
\r
1335 list while the scheduler was suspended. If this was the case then the
\r
1336 removed task will have been added to the xPendingReadyList. Once the
\r
1337 scheduler has been resumed it is safe to move all the pending ready
\r
1338 tasks from this list into their appropriate ready list. */
\r
1339 taskENTER_CRITICAL();
\r
1341 --uxSchedulerSuspended;
\r
1343 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1345 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1347 /* Move any readied tasks from the pending list into the
\r
1348 appropriate ready list. */
\r
1349 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1351 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1352 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1353 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1354 prvAddTaskToReadyQueue( pxTCB );
\r
1356 /* If we have moved a task that has a priority higher than
\r
1357 the current task then we should yield. */
\r
1358 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1360 xYieldRequired = pdTRUE;
\r
1364 /* If any ticks occurred while the scheduler was suspended then
\r
1365 they should be processed now. This ensures the tick count does not
\r
1366 slip, and that any delayed tasks are resumed at the correct time. */
\r
1367 if( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1369 while( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1371 if( xTaskIncrementTick() != pdFALSE )
\r
1373 xYieldRequired = pdTRUE;
\r
1379 if( ( xYieldRequired == pdTRUE ) || ( xYieldPending == pdTRUE ) )
\r
1381 xAlreadyYielded = pdTRUE;
\r
1382 xYieldPending = pdFALSE;
\r
1383 portYIELD_WITHIN_API();
\r
1388 taskEXIT_CRITICAL();
\r
1390 return xAlreadyYielded;
\r
1392 /*-----------------------------------------------------------*/
\r
1394 portTickType xTaskGetTickCount( void )
\r
1396 portTickType xTicks;
\r
1398 /* Critical section required if running on a 16 bit processor. */
\r
1399 taskENTER_CRITICAL();
\r
1401 xTicks = xTickCount;
\r
1403 taskEXIT_CRITICAL();
\r
1407 /*-----------------------------------------------------------*/
\r
1409 portTickType xTaskGetTickCountFromISR( void )
\r
1411 portTickType xReturn;
\r
1412 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1414 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1415 xReturn = xTickCount;
\r
1416 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1420 /*-----------------------------------------------------------*/
\r
1422 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1424 /* A critical section is not required because the variables are of type
\r
1426 return uxCurrentNumberOfTasks;
\r
1428 /*-----------------------------------------------------------*/
\r
1430 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1432 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1436 /* If null is passed in here then the name of the calling task is being queried. */
\r
1437 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1438 configASSERT( pxTCB );
\r
1439 return &( pxTCB->pcTaskName[ 0 ] );
\r
1442 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1443 /*-----------------------------------------------------------*/
\r
1445 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1447 void vTaskList( signed char *pcWriteBuffer )
\r
1449 unsigned portBASE_TYPE uxQueue;
\r
1451 /* This is a VERY costly function that should be used for debug only.
\r
1452 It leaves interrupts disabled for a LONG time. */
\r
1454 vTaskSuspendAll();
\r
1456 /* Run through all the lists that could potentially contain a TCB and
\r
1457 report the task name, state and stack high water mark. */
\r
1459 *pcWriteBuffer = ( signed char ) 0x00;
\r
1460 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1462 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1468 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1470 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1472 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1474 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1476 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1479 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1481 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1484 #if( INCLUDE_vTaskDelete == 1 )
\r
1486 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1488 prvListTaskWithinSingleList( pcWriteBuffer, &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1493 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1495 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1497 prvListTaskWithinSingleList( pcWriteBuffer, &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1505 #endif /* configUSE_TRACE_FACILITY */
\r
1506 /*----------------------------------------------------------*/
\r
1508 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1510 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1512 unsigned portBASE_TYPE uxQueue;
\r
1513 unsigned long ulTotalRunTimeDiv100;
\r
1515 /* This is a VERY costly function that should be used for debug only.
\r
1516 It leaves interrupts disabled for a LONG time. */
\r
1518 vTaskSuspendAll();
\r
1520 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1521 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1523 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1526 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1527 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1528 ulTotalRunTimeDiv100 = ulTotalRunTime / 100UL;
\r
1530 /* Run through all the lists that could potentially contain a TCB,
\r
1531 generating a table of run timer percentages in the provided
\r
1534 *pcWriteBuffer = ( signed char ) 0x00;
\r
1535 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1537 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1543 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1545 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTimeDiv100 );
\r
1547 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1549 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1551 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTimeDiv100 );
\r
1554 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1556 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTimeDiv100 );
\r
1559 #if ( INCLUDE_vTaskDelete == 1 )
\r
1561 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1563 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTimeDiv100 );
\r
1568 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1570 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1572 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTimeDiv100 );
\r
1580 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1581 /*----------------------------------------------------------*/
\r
1583 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1585 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1587 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1588 started, then xIdleTaskHandle will be NULL. */
\r
1589 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1590 return xIdleTaskHandle;
\r
1593 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1594 /*----------------------------------------------------------*/
\r
1596 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1597 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1598 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1600 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1602 void vTaskStepTick( portTickType xTicksToJump )
\r
1604 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1605 xTickCount += xTicksToJump;
\r
1608 #endif /* configUSE_TICKLESS_IDLE */
\r
1609 /*----------------------------------------------------------*/
\r
1611 portBASE_TYPE xTaskIncrementTick( void )
\r
1614 portTickType xItemValue;
\r
1615 portBASE_TYPE xSwitchRequired = pdFALSE;
\r
1617 /* Called by the portable layer each time a tick interrupt occurs.
\r
1618 Increments the tick then checks to see if the new tick value will cause any
\r
1619 tasks to be unblocked. */
\r
1620 traceTASK_INCREMENT_TICK( xTickCount );
\r
1621 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1623 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1624 delayed lists if it wraps to 0. */
\r
1626 if( xTickCount == ( portTickType ) 0U )
\r
1628 taskSWITCH_DELAYED_LISTS();
\r
1631 /* See if this tick has made a timeout expire. Tasks are stored in the
\r
1632 queue in the order of their wake time - meaning once one tasks has been
\r
1633 found whose block time has not expired there is no need not look any
\r
1634 further down the list. */
\r
1635 if( xTickCount >= xNextTaskUnblockTime )
\r
1639 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1641 /* The delayed list is empty. Set xNextTaskUnblockTime to
\r
1642 the maximum possible value so it is extremely unlikely that
\r
1643 the if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1644 next time through. */
\r
1645 xNextTaskUnblockTime = portMAX_DELAY;
\r
1650 /* The delayed list is not empty, get the value of the item
\r
1651 at the head of the delayed list. This is the time at which
\r
1652 the task at the head of the delayed list must be removed
\r
1653 from the Blocked state. */
\r
1654 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1655 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1657 if( xTickCount < xItemValue )
\r
1659 /* It is not time to unblock this item yet, but the item
\r
1660 value is the time at which the task at the head of the
\r
1661 blocked list must be removed from the Blocked state -
\r
1662 so record the item value in xNextTaskUnblockTime. */
\r
1663 xNextTaskUnblockTime = xItemValue;
\r
1667 /* It is time to remove the item from the Blocked state. */
\r
1668 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1670 /* Is the task waiting on an event also? If so remove it
\r
1671 from the event list. */
\r
1672 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
1674 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1677 /* Place the unblocked task into the appropriate ready
\r
1679 prvAddTaskToReadyQueue( pxTCB );
\r
1681 /* A task being unblocked cannot cause an immediate context
\r
1682 switch if preemption is turned off. */
\r
1683 #if ( configUSE_PREEMPTION == 1 )
\r
1685 /* Preemption is on, but a context switch should only
\r
1686 be performed if the unblocked task has a priority that
\r
1687 is equal to or higher than the currently executing
\r
1689 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1691 xSwitchRequired = pdTRUE;
\r
1694 #endif /* configUSE_PREEMPTION */
\r
1699 /* Tasks of equal priority to the currently running task will share
\r
1700 processing time (time slice) if preemption is on, and the application
\r
1701 writer has not explicitly turned time slicing off. */
\r
1702 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
1704 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > 1 )
\r
1706 xSwitchRequired = pdTRUE;
\r
1709 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
1715 /* The tick hook gets called at regular intervals, even if the
\r
1716 scheduler is locked. */
\r
1717 #if ( configUSE_TICK_HOOK == 1 )
\r
1719 vApplicationTickHook();
\r
1724 #if ( configUSE_TICK_HOOK == 1 )
\r
1726 /* Guard against the tick hook being called when the missed tick
\r
1727 count is being unwound (when the scheduler is being unlocked). */
\r
1728 if( uxPendedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1730 vApplicationTickHook();
\r
1733 #endif /* configUSE_TICK_HOOK */
\r
1735 return xSwitchRequired;
\r
1737 /*-----------------------------------------------------------*/
\r
1739 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1741 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1745 /* If xTask is NULL then we are setting our own task hook. */
\r
1746 if( xTask == NULL )
\r
1748 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1752 xTCB = ( tskTCB * ) xTask;
\r
1755 /* Save the hook function in the TCB. A critical section is required as
\r
1756 the value can be accessed from an interrupt. */
\r
1757 taskENTER_CRITICAL();
\r
1758 xTCB->pxTaskTag = pxHookFunction;
\r
1759 taskEXIT_CRITICAL();
\r
1762 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1763 /*-----------------------------------------------------------*/
\r
1765 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1767 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1770 pdTASK_HOOK_CODE xReturn;
\r
1772 /* If xTask is NULL then we are setting our own task hook. */
\r
1773 if( xTask == NULL )
\r
1775 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1779 xTCB = ( tskTCB * ) xTask;
\r
1782 /* Save the hook function in the TCB. A critical section is required as
\r
1783 the value can be accessed from an interrupt. */
\r
1784 taskENTER_CRITICAL();
\r
1785 xReturn = xTCB->pxTaskTag;
\r
1786 taskEXIT_CRITICAL();
\r
1791 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1792 /*-----------------------------------------------------------*/
\r
1794 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1796 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1799 portBASE_TYPE xReturn;
\r
1801 /* If xTask is NULL then we are calling our own task hook. */
\r
1802 if( xTask == NULL )
\r
1804 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1808 xTCB = ( tskTCB * ) xTask;
\r
1811 if( xTCB->pxTaskTag != NULL )
\r
1813 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1823 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1824 /*-----------------------------------------------------------*/
\r
1826 void vTaskSwitchContext( void )
\r
1828 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1830 /* The scheduler is currently suspended - do not allow a context
\r
1832 xYieldPending = pdTRUE;
\r
1836 traceTASK_SWITCHED_OUT();
\r
1838 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1840 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1841 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1843 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1846 /* Add the amount of time the task has been running to the accumulated
\r
1847 time so far. The time the task started running was stored in
\r
1848 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1849 so count values are only valid until the timer overflows. Generally
\r
1850 this will be about 1 hour assuming a 1uS timer increment. */
\r
1851 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
1852 ulTaskSwitchedInTime = ulTotalRunTime;
\r
1854 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1856 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1857 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1859 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
1861 traceTASK_SWITCHED_IN();
\r
1864 /*-----------------------------------------------------------*/
\r
1866 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1868 portTickType xTimeToWake;
\r
1870 configASSERT( pxEventList );
\r
1872 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1873 SCHEDULER SUSPENDED. */
\r
1875 /* Place the event list item of the TCB in the appropriate event list.
\r
1876 This is placed in the list in priority order so the highest priority task
\r
1877 is the first to be woken by the event. */
\r
1878 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1880 /* We must remove ourselves from the ready list before adding ourselves
\r
1881 to the blocked list as the same list item is used for both lists. We have
\r
1882 exclusive access to the ready lists as the scheduler is locked. */
\r
1883 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1885 /* The current task must be in a ready list, so there is no need to
\r
1886 check, and the port reset macro can be called directly. */
\r
1887 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1890 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1892 if( xTicksToWait == portMAX_DELAY )
\r
1894 /* Add ourselves to the suspended task list instead of a delayed task
\r
1895 list to ensure we are not woken by a timing event. We will block
\r
1897 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1901 /* Calculate the time at which the task should be woken if the event does
\r
1902 not occur. This may overflow but this doesn't matter. */
\r
1903 xTimeToWake = xTickCount + xTicksToWait;
\r
1904 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1907 #else /* INCLUDE_vTaskSuspend */
\r
1909 /* Calculate the time at which the task should be woken if the event does
\r
1910 not occur. This may overflow but this doesn't matter. */
\r
1911 xTimeToWake = xTickCount + xTicksToWait;
\r
1912 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1914 #endif /* INCLUDE_vTaskSuspend */
\r
1916 /*-----------------------------------------------------------*/
\r
1918 #if configUSE_TIMERS == 1
\r
1920 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1922 portTickType xTimeToWake;
\r
1924 configASSERT( pxEventList );
\r
1926 /* This function should not be called by application code hence the
\r
1927 'Restricted' in its name. It is not part of the public API. It is
\r
1928 designed for use by kernel code, and has special calling requirements -
\r
1929 it should be called from a critical section. */
\r
1932 /* Place the event list item of the TCB in the appropriate event list.
\r
1933 In this case it is assume that this is the only task that is going to
\r
1934 be waiting on this event list, so the faster vListInsertEnd() function
\r
1935 can be used in place of vListInsert. */
\r
1936 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1938 /* We must remove this task from the ready list before adding it to the
\r
1939 blocked list as the same list item is used for both lists. This
\r
1940 function is called form a critical section. */
\r
1941 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1943 /* The current task must be in a ready list, so there is no need to
\r
1944 check, and the port reset macro can be called directly. */
\r
1945 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1948 /* Calculate the time at which the task should be woken if the event does
\r
1949 not occur. This may overflow but this doesn't matter. */
\r
1950 xTimeToWake = xTickCount + xTicksToWait;
\r
1952 traceTASK_DELAY_UNTIL();
\r
1953 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1956 #endif /* configUSE_TIMERS */
\r
1957 /*-----------------------------------------------------------*/
\r
1959 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1961 tskTCB *pxUnblockedTCB;
\r
1962 portBASE_TYPE xReturn;
\r
1964 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1965 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1967 /* The event list is sorted in priority order, so we can remove the
\r
1968 first in the list, remove the TCB from the delayed list, and add
\r
1969 it to the ready list.
\r
1971 If an event is for a queue that is locked then this function will never
\r
1972 get called - the lock count on the queue will get modified instead. This
\r
1973 means we can always expect exclusive access to the event list here.
\r
1975 This function assumes that a check has already been made to ensure that
\r
1976 pxEventList is not empty. */
\r
1977 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1978 configASSERT( pxUnblockedTCB );
\r
1979 uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1981 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1983 uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1984 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1988 /* We cannot access the delayed or ready lists, so will hold this
\r
1989 task pending until the scheduler is resumed. */
\r
1990 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1993 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1995 /* Return true if the task removed from the event list has
\r
1996 a higher priority than the calling task. This allows
\r
1997 the calling task to know if it should force a context
\r
2003 xReturn = pdFALSE;
\r
2008 /*-----------------------------------------------------------*/
\r
2010 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
2012 configASSERT( pxTimeOut );
\r
2013 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2014 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2016 /*-----------------------------------------------------------*/
\r
2018 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
2020 portBASE_TYPE xReturn;
\r
2022 configASSERT( pxTimeOut );
\r
2023 configASSERT( pxTicksToWait );
\r
2025 taskENTER_CRITICAL();
\r
2027 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2028 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2029 the maximum block time then the task should block indefinitely, and
\r
2030 therefore never time out. */
\r
2031 if( *pxTicksToWait == portMAX_DELAY )
\r
2033 xReturn = pdFALSE;
\r
2035 else /* We are not blocking indefinitely, perform the checks below. */
\r
2038 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
2040 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2041 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2042 It must have wrapped all the way around and gone past us again. This
\r
2043 passed since vTaskSetTimeout() was called. */
\r
2046 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
2048 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2049 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
2050 vTaskSetTimeOutState( pxTimeOut );
\r
2051 xReturn = pdFALSE;
\r
2058 taskEXIT_CRITICAL();
\r
2062 /*-----------------------------------------------------------*/
\r
2064 void vTaskMissedYield( void )
\r
2066 xYieldPending = pdTRUE;
\r
2068 /*-----------------------------------------------------------*/
\r
2070 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2072 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
2074 unsigned portBASE_TYPE uxReturn;
\r
2077 if( xTask != NULL )
\r
2079 pxTCB = ( tskTCB * ) xTask;
\r
2080 uxReturn = pxTCB->uxTaskNumber;
\r
2090 #endif /* configUSE_TRACE_FACILITY */
\r
2091 /*-----------------------------------------------------------*/
\r
2093 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2095 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
2099 if( xTask != NULL )
\r
2101 pxTCB = ( tskTCB * ) xTask;
\r
2102 pxTCB->uxTaskNumber = uxHandle;
\r
2106 #endif /* configUSE_TRACE_FACILITY */
\r
2109 * -----------------------------------------------------------
\r
2111 * ----------------------------------------------------------
\r
2113 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2114 * language extensions. The equivalent prototype for this function is:
\r
2116 * void prvIdleTask( void *pvParameters );
\r
2119 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2121 /* Stop warnings. */
\r
2122 ( void ) pvParameters;
\r
2126 /* See if any tasks have been deleted. */
\r
2127 prvCheckTasksWaitingTermination();
\r
2129 #if ( configUSE_PREEMPTION == 0 )
\r
2131 /* If we are not using preemption we keep forcing a task switch to
\r
2132 see if any other task has become available. If we are using
\r
2133 preemption we don't need to do this as any task becoming available
\r
2134 will automatically get the processor anyway. */
\r
2137 #endif /* configUSE_PREEMPTION */
\r
2139 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2141 /* When using preemption tasks of equal priority will be
\r
2142 timesliced. If a task that is sharing the idle priority is ready
\r
2143 to run then the idle task should yield before the end of the
\r
2146 A critical region is not required here as we are just reading from
\r
2147 the list, and an occasional incorrect value will not matter. If
\r
2148 the ready list at the idle priority contains more than one task
\r
2149 then a task other than the idle task is ready to execute. */
\r
2150 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2155 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2157 #if ( configUSE_IDLE_HOOK == 1 )
\r
2159 extern void vApplicationIdleHook( void );
\r
2161 /* Call the user defined function from within the idle task. This
\r
2162 allows the application designer to add background functionality
\r
2163 without the overhead of a separate task.
\r
2164 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2165 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2166 vApplicationIdleHook();
\r
2168 #endif /* configUSE_IDLE_HOOK */
\r
2170 /* This conditional compilation should use inequality to 0, not equality
\r
2171 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2172 user defined low power mode implementations require
\r
2173 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2174 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2176 portTickType xExpectedIdleTime;
\r
2178 /* It is not desirable to suspend then resume the scheduler on
\r
2179 each iteration of the idle task. Therefore, a preliminary
\r
2180 test of the expected idle time is performed without the
\r
2181 scheduler suspended. The result here is not necessarily
\r
2183 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2185 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2187 vTaskSuspendAll();
\r
2189 /* Now the scheduler is suspended, the expected idle
\r
2190 time can be sampled again, and this time its value can
\r
2192 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2193 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2195 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2197 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2203 #endif /* configUSE_TICKLESS_IDLE */
\r
2205 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
2206 /*-----------------------------------------------------------*/
\r
2208 #if configUSE_TICKLESS_IDLE != 0
\r
2210 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2212 eSleepModeStatus eReturn = eStandardSleep;
\r
2214 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2216 /* A task was made ready while the scheduler was suspended. */
\r
2217 eReturn = eAbortSleep;
\r
2219 else if( xYieldPending != pdFALSE )
\r
2221 /* A yield was pended while the scheduler was suspended. */
\r
2222 eReturn = eAbortSleep;
\r
2226 #if configUSE_TIMERS == 0
\r
2228 /* The idle task exists in addition to the application tasks. */
\r
2229 const unsigned portBASE_TYPE uxNonApplicationTasks = 1;
\r
2231 /* If timers are not being used and all the tasks are in the
\r
2232 suspended list (which might mean they have an infinite block
\r
2233 time rather than actually being suspended) then it is safe to
\r
2234 turn all clocks off and just wait for external interrupts. */
\r
2235 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2237 eReturn = eNoTasksWaitingTimeout;
\r
2240 #endif /* configUSE_TIMERS */
\r
2245 #endif /* configUSE_TICKLESS_IDLE */
\r
2246 /*-----------------------------------------------------------*/
\r
2248 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2250 /* Store the function name in the TCB. */
\r
2251 #if configMAX_TASK_NAME_LEN > 1
\r
2253 /* Don't bring strncpy into the build unnecessarily. */
\r
2254 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
2256 #endif /* configMAX_TASK_NAME_LEN */
\r
2257 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
\r
2259 /* This is used as an array index so must ensure it's not too large. First
\r
2260 remove the privilege bit if one is present. */
\r
2261 if( uxPriority >= configMAX_PRIORITIES )
\r
2263 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2266 pxTCB->uxPriority = uxPriority;
\r
2267 #if ( configUSE_MUTEXES == 1 )
\r
2269 pxTCB->uxBasePriority = uxPriority;
\r
2271 #endif /* configUSE_MUTEXES */
\r
2273 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2274 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2276 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2277 back to the containing TCB from a generic item in a list. */
\r
2278 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2280 /* Event lists are always in priority order. */
\r
2281 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
2282 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2284 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2286 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2288 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2290 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2292 pxTCB->pxTaskTag = NULL;
\r
2294 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2296 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2298 pxTCB->ulRunTimeCounter = 0UL;
\r
2300 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2302 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2304 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2306 #else /* portUSING_MPU_WRAPPERS */
\r
2308 ( void ) xRegions;
\r
2309 ( void ) usStackDepth;
\r
2311 #endif /* portUSING_MPU_WRAPPERS */
\r
2313 /*-----------------------------------------------------------*/
\r
2315 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2317 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2321 if( xTaskToModify == pxCurrentTCB )
\r
2323 xTaskToModify = NULL;
\r
2326 /* If null is passed in here then we are deleting ourselves. */
\r
2327 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2329 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2332 #endif /* portUSING_MPU_WRAPPERS */
\r
2333 /*-----------------------------------------------------------*/
\r
2335 static void prvInitialiseTaskLists( void )
\r
2337 unsigned portBASE_TYPE uxPriority;
\r
2339 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2341 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2344 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2345 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2346 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2348 #if ( INCLUDE_vTaskDelete == 1 )
\r
2350 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2352 #endif /* INCLUDE_vTaskDelete */
\r
2354 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2356 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2358 #endif /* INCLUDE_vTaskSuspend */
\r
2360 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2362 pxDelayedTaskList = &xDelayedTaskList1;
\r
2363 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2365 /*-----------------------------------------------------------*/
\r
2367 static void prvCheckTasksWaitingTermination( void )
\r
2369 #if ( INCLUDE_vTaskDelete == 1 )
\r
2371 portBASE_TYPE xListIsEmpty;
\r
2373 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2374 too often in the idle task. */
\r
2375 while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2377 vTaskSuspendAll();
\r
2378 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2381 if( xListIsEmpty == pdFALSE )
\r
2385 taskENTER_CRITICAL();
\r
2387 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2388 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2389 --uxCurrentNumberOfTasks;
\r
2392 taskEXIT_CRITICAL();
\r
2394 prvDeleteTCB( pxTCB );
\r
2398 #endif /* vTaskDelete */
\r
2400 /*-----------------------------------------------------------*/
\r
2402 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2404 /* The list item will be inserted in wake time order. */
\r
2405 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2407 if( xTimeToWake < xTickCount )
\r
2409 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2410 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2414 /* The wake time has not overflowed, so we can use the current block list. */
\r
2415 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2417 /* If the task entering the blocked state was placed at the head of the
\r
2418 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2420 if( xTimeToWake < xNextTaskUnblockTime )
\r
2422 xNextTaskUnblockTime = xTimeToWake;
\r
2426 /*-----------------------------------------------------------*/
\r
2428 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2432 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2433 the implementation of the port malloc function. */
\r
2434 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2436 if( pxNewTCB != NULL )
\r
2438 /* Allocate space for the stack used by the task being created.
\r
2439 The base of the stack memory stored in the TCB so the task can
\r
2440 be deleted later if required. */
\r
2441 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2443 if( pxNewTCB->pxStack == NULL )
\r
2445 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2446 vPortFree( pxNewTCB );
\r
2451 /* Just to help debugging. */
\r
2452 memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2458 /*-----------------------------------------------------------*/
\r
2460 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2462 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2464 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2465 unsigned short usStackRemaining;
\r
2466 PRIVILEGED_DATA static char pcStatusString[ configMAX_TASK_NAME_LEN + 30 ];
\r
2468 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2469 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2472 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2473 #if ( portSTACK_GROWTH > 0 )
\r
2475 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2479 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2483 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
2484 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2486 } while( pxNextTCB != pxFirstTCB );
\r
2489 #endif /* configUSE_TRACE_FACILITY */
\r
2490 /*-----------------------------------------------------------*/
\r
2492 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2494 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTimeDiv100 )
\r
2496 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2497 unsigned long ulStatsAsPercentage;
\r
2498 size_t xExistingStringLength;
\r
2500 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2501 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2504 /* Get next TCB from the list. */
\r
2505 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2507 /* Divide by zero check. */
\r
2508 if( ulTotalRunTimeDiv100 > 0UL )
\r
2510 xExistingStringLength = strlen( ( char * ) pcWriteBuffer );
\r
2512 /* Has the task run at all? */
\r
2513 if( pxNextTCB->ulRunTimeCounter == 0UL )
\r
2515 /* The task has used no CPU time at all. */
\r
2516 sprintf( ( char * ) &( pcWriteBuffer[ xExistingStringLength ] ), ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2520 /* What percentage of the total run time has the task used?
\r
2521 This will always be rounded down to the nearest integer.
\r
2522 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
2523 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTimeDiv100;
\r
2525 if( ulStatsAsPercentage > 0UL )
\r
2527 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2529 sprintf( ( char * ) &( pcWriteBuffer[ xExistingStringLength ] ), ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2533 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2534 printf() library can be used. */
\r
2535 sprintf( ( char * ) &( pcWriteBuffer[ xExistingStringLength ] ), ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2541 /* If the percentage is zero here then the task has
\r
2542 consumed less than 1% of the total run time. */
\r
2543 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2545 sprintf( ( char * ) &( pcWriteBuffer[ xExistingStringLength ] ), ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2549 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2550 printf() library can be used. */
\r
2551 sprintf( ( char * ) &( pcWriteBuffer[ xExistingStringLength ] ), ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2558 } while( pxNextTCB != pxFirstTCB );
\r
2561 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2562 /*-----------------------------------------------------------*/
\r
2564 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2566 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2568 register unsigned short usCount = 0U;
\r
2570 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2572 pucStackByte -= portSTACK_GROWTH;
\r
2576 usCount /= sizeof( portSTACK_TYPE );
\r
2581 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
2582 /*-----------------------------------------------------------*/
\r
2584 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2586 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2589 unsigned char *pcEndOfStack;
\r
2590 unsigned portBASE_TYPE uxReturn;
\r
2592 pxTCB = prvGetTCBFromHandle( xTask );
\r
2594 #if portSTACK_GROWTH < 0
\r
2596 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2600 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2604 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2609 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
2610 /*-----------------------------------------------------------*/
\r
2612 #if ( INCLUDE_vTaskDelete == 1 )
\r
2614 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2616 /* This call is required specifically for the TriCore port. It must be
\r
2617 above the vPortFree() calls. The call is also used by ports/demos that
\r
2618 want to allocate and clean RAM statically. */
\r
2619 portCLEAN_UP_TCB( pxTCB );
\r
2621 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2622 the task to free any memory allocated at the application level. */
\r
2623 vPortFreeAligned( pxTCB->pxStack );
\r
2624 vPortFree( pxTCB );
\r
2627 #endif /* INCLUDE_vTaskDelete */
\r
2628 /*-----------------------------------------------------------*/
\r
2630 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2632 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2634 xTaskHandle xReturn;
\r
2636 /* A critical section is not required as this is not called from
\r
2637 an interrupt and the current TCB will always be the same for any
\r
2638 individual execution thread. */
\r
2639 xReturn = pxCurrentTCB;
\r
2644 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
2645 /*-----------------------------------------------------------*/
\r
2647 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2649 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2651 portBASE_TYPE xReturn;
\r
2653 if( xSchedulerRunning == pdFALSE )
\r
2655 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2659 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2661 xReturn = taskSCHEDULER_RUNNING;
\r
2665 xReturn = taskSCHEDULER_SUSPENDED;
\r
2672 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
2673 /*-----------------------------------------------------------*/
\r
2675 #if ( configUSE_MUTEXES == 1 )
\r
2677 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2679 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2681 /* If the mutex was given back by an interrupt while the queue was
\r
2682 locked then the mutex holder might now be NULL. */
\r
2683 if( pxMutexHolder != NULL )
\r
2685 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2687 /* Adjust the mutex holder state to account for its new priority. */
\r
2688 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2690 /* If the task being modified is in the ready state it will need to
\r
2691 be moved into a new list. */
\r
2692 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2694 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2696 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2699 /* Inherit the priority before being moved into the new list. */
\r
2700 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2701 prvAddTaskToReadyQueue( pxTCB );
\r
2705 /* Just inherit the priority. */
\r
2706 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2709 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2714 #endif /* configUSE_MUTEXES */
\r
2715 /*-----------------------------------------------------------*/
\r
2717 #if ( configUSE_MUTEXES == 1 )
\r
2719 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2721 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2723 if( pxMutexHolder != NULL )
\r
2725 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2727 /* We must be the running task to be able to give the mutex back.
\r
2728 Remove ourselves from the ready list we currently appear in. */
\r
2729 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2731 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2734 /* Disinherit the priority before adding the task into the new
\r
2736 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2737 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2738 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2739 prvAddTaskToReadyQueue( pxTCB );
\r
2744 #endif /* configUSE_MUTEXES */
\r
2745 /*-----------------------------------------------------------*/
\r
2747 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2749 void vTaskEnterCritical( void )
\r
2751 portDISABLE_INTERRUPTS();
\r
2753 if( xSchedulerRunning != pdFALSE )
\r
2755 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2759 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2760 /*-----------------------------------------------------------*/
\r
2762 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2764 void vTaskExitCritical( void )
\r
2766 if( xSchedulerRunning != pdFALSE )
\r
2768 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2770 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2772 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2774 portENABLE_INTERRUPTS();
\r
2780 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2781 /*-----------------------------------------------------------*/
\r
projects / freertos / blob