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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149 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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150 /* Allocate a Newlib reent structure that is specific to this task.
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151 Note Newlib support has been included by popular demand, but is not
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152 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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153 responsible for resulting newlib operation. User must be familiar with
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154 newlib and must provide system-wide implementations of the necessary
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155 stubs. Be warned that (at the time of writing) the current newlib design
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156 implements a system-wide malloc() that must be provided with locks. */
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157 struct _reent xNewLib_reent;
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164 * Some kernel aware debuggers require the data the debugger needs access to to
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165 * be global, rather than file scope.
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167 #ifdef portREMOVE_STATIC_QUALIFIER
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172 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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174 /* Lists for ready and blocked tasks. --------------------*/
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175 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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176 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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177 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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178 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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179 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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180 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
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182 #if ( INCLUDE_vTaskDelete == 1 )
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184 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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185 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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189 #if ( INCLUDE_vTaskSuspend == 1 )
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191 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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195 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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197 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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201 /* File private variables. --------------------------------*/
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202 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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203 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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204 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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205 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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206 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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207 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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208 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxPendedTicks = ( unsigned portBASE_TYPE ) 0U;
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209 PRIVILEGED_DATA static volatile portBASE_TYPE xYieldPending = ( portBASE_TYPE ) pdFALSE;
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210 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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211 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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212 PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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214 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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216 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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217 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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218 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTimeDiv100 ) PRIVILEGED_FUNCTION;
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222 /* Debugging and trace facilities private variables and macros. ------------*/
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225 * The value used to fill the stack of a task when the task is created. This
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226 * is used purely for checking the high water mark for tasks.
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228 #define tskSTACK_FILL_BYTE ( 0xa5U )
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231 * Macros used by vListTask to indicate which state a task is in.
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233 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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234 #define tskREADY_CHAR ( ( signed char ) 'R' )
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235 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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236 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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238 /*-----------------------------------------------------------*/
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240 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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242 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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243 performed in a generic way that is not optimised to any particular
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244 microcontroller architecture. */
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246 /* uxTopReadyPriority holds the priority of the highest priority ready
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248 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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250 if( ( uxPriority ) > uxTopReadyPriority ) \
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252 uxTopReadyPriority = ( uxPriority ); \
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254 } /* taskRECORD_READY_PRIORITY */
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256 /*-----------------------------------------------------------*/
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258 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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260 /* Find the highest priority queue that contains ready tasks. */ \
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261 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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263 configASSERT( uxTopReadyPriority ); \
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264 --uxTopReadyPriority; \
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267 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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268 the same priority get an equal share of the processor time. */ \
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269 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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270 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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272 /*-----------------------------------------------------------*/
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274 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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275 they are only required when a port optimised method of task selection is
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277 #define taskRESET_READY_PRIORITY( uxPriority )
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278 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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280 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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282 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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283 performed in a way that is tailored to the particular microcontroller
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284 architecture being used. */
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286 /* A port optimised version is provided. Call the port defined macros. */
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287 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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289 /*-----------------------------------------------------------*/
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291 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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293 unsigned portBASE_TYPE uxTopPriority; \
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295 /* Find the highest priority queue that contains ready tasks. */ \
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296 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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297 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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298 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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299 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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301 /*-----------------------------------------------------------*/
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303 /* A port optimised version is provided, call it only if the TCB being reset
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304 is being referenced from a ready list. If it is referenced from a delayed
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305 or suspended list then it won't be in a ready list. */
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306 #define taskRESET_READY_PRIORITY( uxPriority ) \
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308 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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310 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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314 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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316 /*-----------------------------------------------------------*/
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318 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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319 count overflows. */
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320 #define taskSWITCH_DELAYED_LISTS() \
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324 /* The delayed tasks list should be empty when the lists are switched. */ \
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325 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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327 pxTemp = pxDelayedTaskList; \
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328 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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329 pxOverflowDelayedTaskList = pxTemp; \
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330 xNumOfOverflows++; \
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332 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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334 /* The new current delayed list is empty. Set \
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335 xNextTaskUnblockTime to the maximum possible value so it is \
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336 extremely unlikely that the \
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337 if( xTickCount >= xNextTaskUnblockTime ) test will pass until \
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338 there is an item in the delayed list. */ \
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339 xNextTaskUnblockTime = portMAX_DELAY; \
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343 /* The new current delayed list is not empty, get the value of \
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344 the item at the head of the delayed list. This is the time at \
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345 which the task at the head of the delayed list should be removed \
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346 from the Blocked state. */ \
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347 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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348 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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352 /*-----------------------------------------------------------*/
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355 * Place the task represented by pxTCB into the appropriate ready list for
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356 * the task. It is inserted at the end of the list.
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358 #define prvAddTaskToReadyList( pxTCB ) \
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359 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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360 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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361 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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362 /*-----------------------------------------------------------*/
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365 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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366 * where NULL is used to indicate that the handle of the currently executing
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367 * task should be used in place of the parameter. This macro simply checks to
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368 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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370 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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372 /* Callback function prototypes. --------------------------*/
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373 extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
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374 extern void vApplicationTickHook( void );
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376 /* File private functions. --------------------------------*/
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379 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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380 * into the TCB structure.
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382 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
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385 * Utility to ready all the lists used by the scheduler. This is called
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386 * automatically upon the creation of the first task.
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388 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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391 * The idle task, which as all tasks is implemented as a never ending loop.
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392 * The idle task is automatically created and added to the ready lists upon
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393 * creation of the first user task.
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395 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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396 * language extensions. The equivalent prototype for this function is:
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398 * void prvIdleTask( void *pvParameters );
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401 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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404 * Utility to free all memory allocated by the scheduler to hold a TCB,
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405 * including the stack pointed to by the TCB.
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407 * This does not free memory allocated by the task itself (i.e. memory
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408 * allocated by calls to pvPortMalloc from within the tasks application code).
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410 #if ( INCLUDE_vTaskDelete == 1 )
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412 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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417 * Used only by the idle task. This checks to see if anything has been placed
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418 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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419 * and its TCB deleted.
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421 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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424 * The currently executing task is entering the Blocked state. Add the task to
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425 * either the current or the overflow delayed task list.
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427 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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430 * Allocates memory from the heap for a TCB and associated stack. Checks the
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431 * allocation was successful.
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433 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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436 * Called from vTaskList. vListTasks details all the tasks currently under
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437 * control of the scheduler. The tasks may be in one of a number of lists.
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438 * prvListTaskWithinSingleList accepts a list and details the tasks from
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439 * within just that list.
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441 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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442 * NORMAL APPLICATION CODE.
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444 #if ( configUSE_TRACE_FACILITY == 1 )
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446 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
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451 * When a task is created, the stack of the task is filled with a known value.
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452 * This function determines the 'high water mark' of the task stack by
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453 * determining how much of the stack remains at the original preset value.
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455 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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457 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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462 * Return the amount of time, in ticks, that will pass before the kernel will
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463 * next move a task from the Blocked state to the Running state.
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465 * This conditional compilation should use inequality to 0, not equality to 1.
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466 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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467 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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468 * set to a value other than 1.
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470 #if ( configUSE_TICKLESS_IDLE != 0 )
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472 static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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478 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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480 signed portBASE_TYPE xReturn;
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483 configASSERT( pxTaskCode );
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484 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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486 /* Allocate the memory required by the TCB and stack for the new task,
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487 checking that the allocation was successful. */
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488 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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490 if( pxNewTCB != NULL )
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492 portSTACK_TYPE *pxTopOfStack;
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494 #if( portUSING_MPU_WRAPPERS == 1 )
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495 /* Should the task be created in privileged mode? */
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496 portBASE_TYPE xRunPrivileged;
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497 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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499 xRunPrivileged = pdTRUE;
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503 xRunPrivileged = pdFALSE;
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505 uxPriority &= ~portPRIVILEGE_BIT;
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506 #endif /* portUSING_MPU_WRAPPERS == 1 */
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508 /* Calculate the top of stack address. This depends on whether the
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509 stack grows from high memory to low (as per the 80x86) or visa versa.
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510 portSTACK_GROWTH is used to make the result positive or negative as
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511 required by the port. */
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512 #if( portSTACK_GROWTH < 0 )
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514 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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515 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
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517 /* Check the alignment of the calculated top of stack is correct. */
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518 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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520 #else /* portSTACK_GROWTH */
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522 pxTopOfStack = pxNewTCB->pxStack;
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524 /* Check the alignment of the stack buffer is correct. */
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525 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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527 /* If we want to use stack checking on architectures that use
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528 a positive stack growth direction then we also need to store the
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529 other extreme of the stack space. */
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530 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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532 #endif /* portSTACK_GROWTH */
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534 /* Setup the newly allocated TCB with the initial state of the task. */
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535 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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537 /* Initialize the TCB stack to look as if the task was already running,
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538 but had been interrupted by the scheduler. The return address is set
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539 to the start of the task function. Once the stack has been initialised
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540 the top of stack variable is updated. */
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541 #if( portUSING_MPU_WRAPPERS == 1 )
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543 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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545 #else /* portUSING_MPU_WRAPPERS */
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547 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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549 #endif /* portUSING_MPU_WRAPPERS */
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551 if( ( void * ) pxCreatedTask != NULL )
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553 /* Pass the TCB out - in an anonymous way. The calling function/
\r
554 task can use this as a handle to delete the task later if
\r
556 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
\r
559 /* Ensure interrupts don't access the task lists while they are being
\r
561 taskENTER_CRITICAL();
\r
563 uxCurrentNumberOfTasks++;
\r
564 if( pxCurrentTCB == NULL )
\r
566 /* There are no other tasks, or all the other tasks are in
\r
567 the suspended state - make this the current task. */
\r
568 pxCurrentTCB = pxNewTCB;
\r
570 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
572 /* This is the first task to be created so do the preliminary
\r
573 initialisation required. We will not recover if this call
\r
574 fails, but we will report the failure. */
\r
575 prvInitialiseTaskLists();
\r
580 /* If the scheduler is not already running, make this task the
\r
581 current task if it is the highest priority task to be created
\r
583 if( xSchedulerRunning == pdFALSE )
\r
585 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
587 pxCurrentTCB = pxNewTCB;
\r
592 /* Remember the top priority to make context switching faster. Use
\r
593 the priority in pxNewTCB as this has been capped to a valid value. */
\r
594 if( pxNewTCB->uxPriority > uxTopUsedPriority )
\r
596 uxTopUsedPriority = pxNewTCB->uxPriority;
\r
601 #if ( configUSE_TRACE_FACILITY == 1 )
\r
603 /* Add a counter into the TCB for tracing only. */
\r
604 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
606 #endif /* configUSE_TRACE_FACILITY */
\r
607 traceTASK_CREATE( pxNewTCB );
\r
609 prvAddTaskToReadyList( pxNewTCB );
\r
612 portSETUP_TCB( pxNewTCB );
\r
614 taskEXIT_CRITICAL();
\r
618 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
619 traceTASK_CREATE_FAILED();
\r
622 if( xReturn == pdPASS )
\r
624 if( xSchedulerRunning != pdFALSE )
\r
626 /* If the created task is of a higher priority than the current task
\r
627 then it should run now. */
\r
628 if( pxCurrentTCB->uxPriority < uxPriority )
\r
630 portYIELD_WITHIN_API();
\r
637 /*-----------------------------------------------------------*/
\r
639 #if ( INCLUDE_vTaskDelete == 1 )
\r
641 void vTaskDelete( xTaskHandle xTaskToDelete )
\r
645 taskENTER_CRITICAL();
\r
647 /* Ensure a yield is performed if the current task is being
\r
649 if( xTaskToDelete == pxCurrentTCB )
\r
651 xTaskToDelete = NULL;
\r
654 /* If null is passed in here then we are deleting ourselves. */
\r
655 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
657 /* Remove task from the ready list and place in the termination list.
\r
658 This will stop the task from be scheduled. The idle task will check
\r
659 the termination list and free up any memory allocated by the
\r
660 scheduler for the TCB and stack. */
\r
661 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
663 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
666 /* Is the task waiting on an event also? */
\r
667 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
669 uxListRemove( &( pxTCB->xEventListItem ) );
\r
672 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
674 /* Increment the ucTasksDeleted variable so the idle task knows
\r
675 there is a task that has been deleted and that it should therefore
\r
676 check the xTasksWaitingTermination list. */
\r
679 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
680 can detect that the task lists need re-generating. */
\r
683 traceTASK_DELETE( pxTCB );
\r
685 taskEXIT_CRITICAL();
\r
687 /* Force a reschedule if we have just deleted the current task. */
\r
688 if( xSchedulerRunning != pdFALSE )
\r
690 if( ( void * ) xTaskToDelete == NULL )
\r
692 portYIELD_WITHIN_API();
\r
697 #endif /* INCLUDE_vTaskDelete */
\r
698 /*-----------------------------------------------------------*/
\r
700 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
702 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
704 portTickType xTimeToWake;
\r
705 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
707 configASSERT( pxPreviousWakeTime );
\r
708 configASSERT( ( xTimeIncrement > 0U ) );
\r
712 /* Generate the tick time at which the task wants to wake. */
\r
713 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
715 if( xTickCount < *pxPreviousWakeTime )
\r
717 /* The tick count has overflowed since this function was
\r
718 lasted called. In this case the only time we should ever
\r
719 actually delay is if the wake time has also overflowed,
\r
720 and the wake time is greater than the tick time. When this
\r
721 is the case it is as if neither time had overflowed. */
\r
722 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
724 xShouldDelay = pdTRUE;
\r
729 /* The tick time has not overflowed. In this case we will
\r
730 delay if either the wake time has overflowed, and/or the
\r
731 tick time is less than the wake time. */
\r
732 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
734 xShouldDelay = pdTRUE;
\r
738 /* Update the wake time ready for the next call. */
\r
739 *pxPreviousWakeTime = xTimeToWake;
\r
741 if( xShouldDelay != pdFALSE )
\r
743 traceTASK_DELAY_UNTIL();
\r
745 /* We must remove ourselves from the ready list before adding
\r
746 ourselves to the blocked list as the same list item is used for
\r
748 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
750 /* The current task must be in a ready list, so there is
\r
751 no need to check, and the port reset macro can be called
\r
753 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
756 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
759 xAlreadyYielded = xTaskResumeAll();
\r
761 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
762 have put ourselves to sleep. */
\r
763 if( xAlreadyYielded == pdFALSE )
\r
765 portYIELD_WITHIN_API();
\r
769 #endif /* INCLUDE_vTaskDelayUntil */
\r
770 /*-----------------------------------------------------------*/
\r
772 #if ( INCLUDE_vTaskDelay == 1 )
\r
774 void vTaskDelay( portTickType xTicksToDelay )
\r
776 portTickType xTimeToWake;
\r
777 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
779 /* A delay time of zero just forces a reschedule. */
\r
780 if( xTicksToDelay > ( portTickType ) 0U )
\r
786 /* A task that is removed from the event list while the
\r
787 scheduler is suspended will not get placed in the ready
\r
788 list or removed from the blocked list until the scheduler
\r
791 This task cannot be in an event list as it is the currently
\r
794 /* Calculate the time to wake - this may overflow but this is
\r
796 xTimeToWake = xTickCount + xTicksToDelay;
\r
798 /* We must remove ourselves from the ready list before adding
\r
799 ourselves to the blocked list as the same list item is used for
\r
801 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
803 /* The current task must be in a ready list, so there is
\r
804 no need to check, and the port reset macro can be called
\r
806 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
808 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
810 xAlreadyYielded = xTaskResumeAll();
\r
813 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
814 have put ourselves to sleep. */
\r
815 if( xAlreadyYielded == pdFALSE )
\r
817 portYIELD_WITHIN_API();
\r
821 #endif /* INCLUDE_vTaskDelay */
\r
822 /*-----------------------------------------------------------*/
\r
824 #if ( INCLUDE_eTaskGetState == 1 )
\r
826 eTaskState eTaskGetState( xTaskHandle xTask )
\r
828 eTaskState eReturn;
\r
829 xList *pxStateList;
\r
832 pxTCB = ( tskTCB * ) xTask;
\r
834 if( pxTCB == pxCurrentTCB )
\r
836 /* The task calling this function is querying its own state. */
\r
837 eReturn = eRunning;
\r
841 taskENTER_CRITICAL();
\r
843 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
845 taskEXIT_CRITICAL();
\r
847 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
849 /* The task being queried is referenced from one of the Blocked
\r
851 eReturn = eBlocked;
\r
854 #if ( INCLUDE_vTaskSuspend == 1 )
\r
855 else if( pxStateList == &xSuspendedTaskList )
\r
857 /* The task being queried is referenced from the suspended
\r
859 eReturn = eSuspended;
\r
863 #if ( INCLUDE_vTaskDelete == 1 )
\r
864 else if( pxStateList == &xTasksWaitingTermination )
\r
866 /* The task being queried is referenced from the deleted
\r
868 eReturn = eDeleted;
\r
874 /* If the task is not in any other state, it must be in the
\r
875 Ready (including pending ready) state. */
\r
883 #endif /* INCLUDE_eTaskGetState */
\r
884 /*-----------------------------------------------------------*/
\r
886 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
888 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
\r
891 unsigned portBASE_TYPE uxReturn;
\r
893 taskENTER_CRITICAL();
\r
895 /* If null is passed in here then we are changing the
\r
896 priority of the calling function. */
\r
897 pxTCB = prvGetTCBFromHandle( xTask );
\r
898 uxReturn = pxTCB->uxPriority;
\r
900 taskEXIT_CRITICAL();
\r
905 #endif /* INCLUDE_uxTaskPriorityGet */
\r
906 /*-----------------------------------------------------------*/
\r
908 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
910 void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
\r
913 unsigned portBASE_TYPE uxCurrentPriority, uxPriorityUsedOnEntry;
\r
914 portBASE_TYPE xYieldRequired = pdFALSE;
\r
916 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
918 /* Ensure the new priority is valid. */
\r
919 if( uxNewPriority >= configMAX_PRIORITIES )
\r
921 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
924 taskENTER_CRITICAL();
\r
926 if( xTask == ( xTaskHandle ) pxCurrentTCB )
\r
931 /* If null is passed in here then we are changing the
\r
932 priority of the calling function. */
\r
933 pxTCB = prvGetTCBFromHandle( xTask );
\r
935 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
937 #if ( configUSE_MUTEXES == 1 )
\r
939 uxCurrentPriority = pxTCB->uxBasePriority;
\r
943 uxCurrentPriority = pxTCB->uxPriority;
\r
947 if( uxCurrentPriority != uxNewPriority )
\r
949 /* The priority change may have readied a task of higher
\r
950 priority than the calling task. */
\r
951 if( uxNewPriority > uxCurrentPriority )
\r
953 if( xTask != NULL )
\r
955 /* The priority of another task is being raised. If we
\r
956 were raising the priority of the currently running task
\r
957 there would be no need to switch as it must have already
\r
958 been the highest priority task. */
\r
959 xYieldRequired = pdTRUE;
\r
962 else if( xTask == NULL )
\r
964 /* Setting our own priority down means there may now be another
\r
965 task of higher priority that is ready to execute. */
\r
966 xYieldRequired = pdTRUE;
\r
969 /* Remember the ready list the task might be referenced from
\r
970 before its uxPriority member is changed so the
\r
971 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
972 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
974 #if ( configUSE_MUTEXES == 1 )
\r
976 /* Only change the priority being used if the task is not
\r
977 currently using an inherited priority. */
\r
978 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
980 pxTCB->uxPriority = uxNewPriority;
\r
983 /* The base priority gets set whatever. */
\r
984 pxTCB->uxBasePriority = uxNewPriority;
\r
988 pxTCB->uxPriority = uxNewPriority;
\r
992 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
994 /* If the task is in the blocked or suspended list we need do
\r
995 nothing more than change it's priority variable. However, if
\r
996 the task is in a ready list it needs to be removed and placed
\r
997 in the queue appropriate to its new priority. */
\r
998 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
1000 /* The task is currently in its ready list - remove before adding
\r
1001 it to it's new ready list. As we are in a critical section we
\r
1002 can do this even if the scheduler is suspended. */
\r
1003 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1005 taskRESET_READY_PRIORITY( uxPriorityUsedOnEntry );
\r
1007 prvAddTaskToReadyList( pxTCB );
\r
1010 if( xYieldRequired == pdTRUE )
\r
1012 portYIELD_WITHIN_API();
\r
1015 /* Remove compiler warning about unused variables when the port
\r
1016 optimised task selection is not being used. */
\r
1017 ( void ) uxPriorityUsedOnEntry;
\r
1020 taskEXIT_CRITICAL();
\r
1023 #endif /* INCLUDE_vTaskPrioritySet */
\r
1024 /*-----------------------------------------------------------*/
\r
1026 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1028 void vTaskSuspend( xTaskHandle xTaskToSuspend )
\r
1032 taskENTER_CRITICAL();
\r
1034 /* Ensure a yield is performed if the current task is being
\r
1036 if( xTaskToSuspend == ( xTaskHandle ) pxCurrentTCB )
\r
1038 xTaskToSuspend = NULL;
\r
1041 /* If null is passed in here then we are suspending ourselves. */
\r
1042 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1044 traceTASK_SUSPEND( pxTCB );
\r
1046 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
1047 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1049 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1052 /* Is the task waiting on an event also? */
\r
1053 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
1055 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1058 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1060 taskEXIT_CRITICAL();
\r
1062 if( ( void * ) xTaskToSuspend == NULL )
\r
1064 if( xSchedulerRunning != pdFALSE )
\r
1066 /* We have just suspended the current task. */
\r
1067 portYIELD_WITHIN_API();
\r
1071 /* The scheduler is not running, but the task that was pointed
\r
1072 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1073 must be adjusted to point to a different task. */
\r
1074 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1076 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1077 NULL so when the next task is created pxCurrentTCB will
\r
1078 be set to point to it no matter what its relative priority
\r
1080 pxCurrentTCB = NULL;
\r
1084 vTaskSwitchContext();
\r
1090 #endif /* INCLUDE_vTaskSuspend */
\r
1091 /*-----------------------------------------------------------*/
\r
1093 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1095 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
1097 portBASE_TYPE xReturn = pdFALSE;
\r
1098 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1100 /* It does not make sense to check if the calling task is suspended. */
\r
1101 configASSERT( xTask );
\r
1103 /* Is the task we are attempting to resume actually in the
\r
1104 suspended list? */
\r
1105 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1107 /* Has the task already been resumed from within an ISR? */
\r
1108 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
1110 /* Is it in the suspended list because it is in the
\r
1111 Suspended state? It is possible to be in the suspended
\r
1112 list because it is blocked on a task with no timeout
\r
1114 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
1124 #endif /* INCLUDE_vTaskSuspend */
\r
1125 /*-----------------------------------------------------------*/
\r
1127 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1129 void vTaskResume( xTaskHandle xTaskToResume )
\r
1133 /* It does not make sense to resume the calling task. */
\r
1134 configASSERT( xTaskToResume );
\r
1136 /* Remove the task from whichever list it is currently in, and place
\r
1137 it in the ready list. */
\r
1138 pxTCB = ( tskTCB * ) xTaskToResume;
\r
1140 /* The parameter cannot be NULL as it is impossible to resume the
\r
1141 currently executing task. */
\r
1142 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1144 taskENTER_CRITICAL();
\r
1146 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1148 traceTASK_RESUME( pxTCB );
\r
1150 /* As we are in a critical section we can access the ready
\r
1151 lists even if the scheduler is suspended. */
\r
1152 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1153 prvAddTaskToReadyList( pxTCB );
\r
1155 /* We may have just resumed a higher priority task. */
\r
1156 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1158 /* This yield may not cause the task just resumed to run, but
\r
1159 will leave the lists in the correct state for the next yield. */
\r
1160 portYIELD_WITHIN_API();
\r
1164 taskEXIT_CRITICAL();
\r
1168 #endif /* INCLUDE_vTaskSuspend */
\r
1170 /*-----------------------------------------------------------*/
\r
1172 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1174 portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
\r
1176 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1178 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1180 configASSERT( xTaskToResume );
\r
1182 pxTCB = ( tskTCB * ) xTaskToResume;
\r
1184 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1186 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1188 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1190 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1192 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1193 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1194 prvAddTaskToReadyList( pxTCB );
\r
1198 /* We cannot access the delayed or ready lists, so will hold this
\r
1199 task pending until the scheduler is resumed, at which point a
\r
1200 yield will be performed if necessary. */
\r
1201 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1205 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1207 return xYieldRequired;
\r
1210 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1211 /*-----------------------------------------------------------*/
\r
1213 void vTaskStartScheduler( void )
\r
1215 portBASE_TYPE xReturn;
\r
1217 /* Add the idle task at the lowest priority. */
\r
1218 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1220 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1221 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1222 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );
\r
1226 /* Create the idle task without storing its handle. */
\r
1227 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
\r
1229 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1231 #if ( configUSE_TIMERS == 1 )
\r
1233 if( xReturn == pdPASS )
\r
1235 xReturn = xTimerCreateTimerTask();
\r
1238 #endif /* configUSE_TIMERS */
\r
1240 if( xReturn == pdPASS )
\r
1242 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1243 before or during the call to xPortStartScheduler(). The stacks of
\r
1244 the created tasks contain a status word with interrupts switched on
\r
1245 so interrupts will automatically get re-enabled when the first task
\r
1248 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1249 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1250 portDISABLE_INTERRUPTS();
\r
1252 xSchedulerRunning = pdTRUE;
\r
1253 xTickCount = ( portTickType ) 0U;
\r
1255 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1256 macro must be defined to configure the timer/counter used to generate
\r
1257 the run time counter time base. */
\r
1258 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1260 /* Setting up the timer tick is hardware specific and thus in the
\r
1261 portable interface. */
\r
1262 if( xPortStartScheduler() != pdFALSE )
\r
1264 /* Should not reach here as if the scheduler is running the
\r
1265 function will not return. */
\r
1269 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1274 /* This line will only be reached if the kernel could not be started,
\r
1275 because there was not enough FreeRTOS heap to create the idle task
\r
1276 or the timer task. */
\r
1277 configASSERT( xReturn );
\r
1280 /*-----------------------------------------------------------*/
\r
1282 void vTaskEndScheduler( void )
\r
1284 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1285 routine so the original ISRs can be restored if necessary. The port
\r
1286 layer must ensure interrupts enable bit is left in the correct state. */
\r
1287 portDISABLE_INTERRUPTS();
\r
1288 xSchedulerRunning = pdFALSE;
\r
1289 vPortEndScheduler();
\r
1291 /*----------------------------------------------------------*/
\r
1293 void vTaskSuspendAll( void )
\r
1295 /* A critical section is not required as the variable is of type
\r
1297 ++uxSchedulerSuspended;
\r
1299 /*----------------------------------------------------------*/
\r
1301 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1303 static portTickType prvGetExpectedIdleTime( void )
\r
1305 portTickType xReturn;
\r
1307 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1311 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1313 /* There are other idle priority tasks in the ready state. If
\r
1314 time slicing is used then the very next tick interrupt must be
\r
1320 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1326 #endif /* configUSE_TICKLESS_IDLE */
\r
1327 /*----------------------------------------------------------*/
\r
1329 signed portBASE_TYPE xTaskResumeAll( void )
\r
1331 register tskTCB *pxTCB;
\r
1332 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1333 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1335 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1336 previous call to vTaskSuspendAll(). */
\r
1337 configASSERT( uxSchedulerSuspended );
\r
1339 /* It is possible that an ISR caused a task to be removed from an event
\r
1340 list while the scheduler was suspended. If this was the case then the
\r
1341 removed task will have been added to the xPendingReadyList. Once the
\r
1342 scheduler has been resumed it is safe to move all the pending ready
\r
1343 tasks from this list into their appropriate ready list. */
\r
1344 taskENTER_CRITICAL();
\r
1346 --uxSchedulerSuspended;
\r
1348 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1350 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1352 /* Move any readied tasks from the pending list into the
\r
1353 appropriate ready list. */
\r
1354 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1356 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1357 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1358 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1359 prvAddTaskToReadyList( pxTCB );
\r
1361 /* If we have moved a task that has a priority higher than
\r
1362 the current task then we should yield. */
\r
1363 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1365 xYieldRequired = pdTRUE;
\r
1369 /* If any ticks occurred while the scheduler was suspended then
\r
1370 they should be processed now. This ensures the tick count does not
\r
1371 slip, and that any delayed tasks are resumed at the correct time. */
\r
1372 if( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1374 while( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1376 if( xTaskIncrementTick() != pdFALSE )
\r
1378 xYieldRequired = pdTRUE;
\r
1384 if( ( xYieldRequired == pdTRUE ) || ( xYieldPending == pdTRUE ) )
\r
1386 xAlreadyYielded = pdTRUE;
\r
1387 xYieldPending = pdFALSE;
\r
1388 portYIELD_WITHIN_API();
\r
1393 taskEXIT_CRITICAL();
\r
1395 return xAlreadyYielded;
\r
1397 /*-----------------------------------------------------------*/
\r
1399 portTickType xTaskGetTickCount( void )
\r
1401 portTickType xTicks;
\r
1403 /* Critical section required if running on a 16 bit processor. */
\r
1404 taskENTER_CRITICAL();
\r
1406 xTicks = xTickCount;
\r
1408 taskEXIT_CRITICAL();
\r
1412 /*-----------------------------------------------------------*/
\r
1414 portTickType xTaskGetTickCountFromISR( void )
\r
1416 portTickType xReturn;
\r
1417 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1419 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1420 xReturn = xTickCount;
\r
1421 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1425 /*-----------------------------------------------------------*/
\r
1427 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1429 /* A critical section is not required because the variables are of type
\r
1431 return uxCurrentNumberOfTasks;
\r
1433 /*-----------------------------------------------------------*/
\r
1435 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1437 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1441 /* If null is passed in here then the name of the calling task is being queried. */
\r
1442 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1443 configASSERT( pxTCB );
\r
1444 return &( pxTCB->pcTaskName[ 0 ] );
\r
1447 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1448 /*-----------------------------------------------------------*/
\r
1450 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1452 void vTaskList( signed char *pcWriteBuffer )
\r
1454 unsigned portBASE_TYPE uxQueue;
\r
1456 /* This is a VERY costly function that should be used for debug only.
\r
1457 It leaves interrupts disabled for a LONG time. */
\r
1459 vTaskSuspendAll();
\r
1461 /* Run through all the lists that could potentially contain a TCB and
\r
1462 report the task name, state and stack high water mark. */
\r
1464 *pcWriteBuffer = ( signed char ) 0x00;
\r
1465 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1467 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1473 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1475 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1477 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1479 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1481 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1484 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1486 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1489 #if( INCLUDE_vTaskDelete == 1 )
\r
1491 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1493 prvListTaskWithinSingleList( pcWriteBuffer, &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1498 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1500 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1502 prvListTaskWithinSingleList( pcWriteBuffer, &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1510 #endif /* configUSE_TRACE_FACILITY */
\r
1511 /*----------------------------------------------------------*/
\r
1513 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1515 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1517 unsigned portBASE_TYPE uxQueue;
\r
1518 unsigned long ulTotalRunTimeDiv100;
\r
1520 /* This is a VERY costly function that should be used for debug only.
\r
1521 It leaves interrupts disabled for a LONG time. */
\r
1523 vTaskSuspendAll();
\r
1525 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1526 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1528 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1531 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1532 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1533 ulTotalRunTimeDiv100 = ulTotalRunTime / 100UL;
\r
1535 /* Run through all the lists that could potentially contain a TCB,
\r
1536 generating a table of run timer percentages in the provided
\r
1539 *pcWriteBuffer = ( signed char ) 0x00;
\r
1540 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1542 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1548 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1550 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTimeDiv100 );
\r
1552 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1554 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1556 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTimeDiv100 );
\r
1559 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1561 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTimeDiv100 );
\r
1564 #if ( INCLUDE_vTaskDelete == 1 )
\r
1566 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1568 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTimeDiv100 );
\r
1573 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1575 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1577 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTimeDiv100 );
\r
1585 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1586 /*----------------------------------------------------------*/
\r
1588 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1590 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1592 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1593 started, then xIdleTaskHandle will be NULL. */
\r
1594 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1595 return xIdleTaskHandle;
\r
1598 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1599 /*----------------------------------------------------------*/
\r
1601 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1602 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1603 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1605 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1607 void vTaskStepTick( portTickType xTicksToJump )
\r
1609 /* Correct the tick count value after a period during which the tick
\r
1610 was suppressed. Note this does *not* call the tick hook function for
\r
1611 each stepped tick. */
\r
1612 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1613 xTickCount += xTicksToJump;
\r
1616 #endif /* configUSE_TICKLESS_IDLE */
\r
1617 /*----------------------------------------------------------*/
\r
1619 portBASE_TYPE xTaskIncrementTick( void )
\r
1622 portTickType xItemValue;
\r
1623 portBASE_TYPE xSwitchRequired = pdFALSE;
\r
1625 /* Called by the portable layer each time a tick interrupt occurs.
\r
1626 Increments the tick then checks to see if the new tick value will cause any
\r
1627 tasks to be unblocked. */
\r
1628 traceTASK_INCREMENT_TICK( xTickCount );
\r
1629 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1631 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1632 delayed lists if it wraps to 0. */
\r
1634 if( xTickCount == ( portTickType ) 0U )
\r
1636 taskSWITCH_DELAYED_LISTS();
\r
1639 /* See if this tick has made a timeout expire. Tasks are stored in the
\r
1640 queue in the order of their wake time - meaning once one tasks has been
\r
1641 found whose block time has not expired there is no need not look any
\r
1642 further down the list. */
\r
1643 if( xTickCount >= xNextTaskUnblockTime )
\r
1647 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1649 /* The delayed list is empty. Set xNextTaskUnblockTime to
\r
1650 the maximum possible value so it is extremely unlikely that
\r
1651 the if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1652 next time through. */
\r
1653 xNextTaskUnblockTime = portMAX_DELAY;
\r
1658 /* The delayed list is not empty, get the value of the item
\r
1659 at the head of the delayed list. This is the time at which
\r
1660 the task at the head of the delayed list must be removed
\r
1661 from the Blocked state. */
\r
1662 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1663 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1665 if( xTickCount < xItemValue )
\r
1667 /* It is not time to unblock this item yet, but the item
\r
1668 value is the time at which the task at the head of the
\r
1669 blocked list must be removed from the Blocked state -
\r
1670 so record the item value in xNextTaskUnblockTime. */
\r
1671 xNextTaskUnblockTime = xItemValue;
\r
1675 /* It is time to remove the item from the Blocked state. */
\r
1676 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1678 /* Is the task waiting on an event also? If so remove it
\r
1679 from the event list. */
\r
1680 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
1682 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1685 /* Place the unblocked task into the appropriate ready
\r
1687 prvAddTaskToReadyList( pxTCB );
\r
1689 /* A task being unblocked cannot cause an immediate context
\r
1690 switch if preemption is turned off. */
\r
1691 #if ( configUSE_PREEMPTION == 1 )
\r
1693 /* Preemption is on, but a context switch should only
\r
1694 be performed if the unblocked task has a priority that
\r
1695 is equal to or higher than the currently executing
\r
1697 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1699 xSwitchRequired = pdTRUE;
\r
1702 #endif /* configUSE_PREEMPTION */
\r
1707 /* Tasks of equal priority to the currently running task will share
\r
1708 processing time (time slice) if preemption is on, and the application
\r
1709 writer has not explicitly turned time slicing off. */
\r
1710 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
1712 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > 1 )
\r
1714 xSwitchRequired = pdTRUE;
\r
1717 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
1723 /* The tick hook gets called at regular intervals, even if the
\r
1724 scheduler is locked. */
\r
1725 #if ( configUSE_TICK_HOOK == 1 )
\r
1727 vApplicationTickHook();
\r
1732 #if ( configUSE_TICK_HOOK == 1 )
\r
1734 /* Guard against the tick hook being called when the missed tick
\r
1735 count is being unwound (when the scheduler is being unlocked). */
\r
1736 if( uxPendedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1738 vApplicationTickHook();
\r
1741 #endif /* configUSE_TICK_HOOK */
\r
1743 return xSwitchRequired;
\r
1745 /*-----------------------------------------------------------*/
\r
1747 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1749 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1753 /* If xTask is NULL then we are setting our own task hook. */
\r
1754 if( xTask == NULL )
\r
1756 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1760 xTCB = ( tskTCB * ) xTask;
\r
1763 /* Save the hook function in the TCB. A critical section is required as
\r
1764 the value can be accessed from an interrupt. */
\r
1765 taskENTER_CRITICAL();
\r
1766 xTCB->pxTaskTag = pxHookFunction;
\r
1767 taskEXIT_CRITICAL();
\r
1770 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1771 /*-----------------------------------------------------------*/
\r
1773 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1775 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1778 pdTASK_HOOK_CODE xReturn;
\r
1780 /* If xTask is NULL then we are setting our own task hook. */
\r
1781 if( xTask == NULL )
\r
1783 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1787 xTCB = ( tskTCB * ) xTask;
\r
1790 /* Save the hook function in the TCB. A critical section is required as
\r
1791 the value can be accessed from an interrupt. */
\r
1792 taskENTER_CRITICAL();
\r
1793 xReturn = xTCB->pxTaskTag;
\r
1794 taskEXIT_CRITICAL();
\r
1799 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1800 /*-----------------------------------------------------------*/
\r
1802 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1804 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1807 portBASE_TYPE xReturn;
\r
1809 /* If xTask is NULL then we are calling our own task hook. */
\r
1810 if( xTask == NULL )
\r
1812 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1816 xTCB = ( tskTCB * ) xTask;
\r
1819 if( xTCB->pxTaskTag != NULL )
\r
1821 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1831 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1832 /*-----------------------------------------------------------*/
\r
1834 void vTaskSwitchContext( void )
\r
1836 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1838 /* The scheduler is currently suspended - do not allow a context
\r
1840 xYieldPending = pdTRUE;
\r
1844 traceTASK_SWITCHED_OUT();
\r
1846 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1848 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1849 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1851 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1854 /* Add the amount of time the task has been running to the
\r
1855 accumulated time so far. The time the task started running was
\r
1856 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
1857 protection here so count values are only valid until the timer
\r
1858 overflows. The guard against negative values is to protect
\r
1859 against suspect run time stat counter implementations - which
\r
1860 are provided by the application, not the kernel. */
\r
1861 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
1863 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
1865 ulTaskSwitchedInTime = ulTotalRunTime;
\r
1867 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1869 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1870 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1872 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
1874 traceTASK_SWITCHED_IN();
\r
1876 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1878 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1879 structure specific to this task. */
\r
1880 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1882 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1885 /*-----------------------------------------------------------*/
\r
1887 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1889 portTickType xTimeToWake;
\r
1891 configASSERT( pxEventList );
\r
1893 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1894 SCHEDULER SUSPENDED. */
\r
1896 /* Place the event list item of the TCB in the appropriate event list.
\r
1897 This is placed in the list in priority order so the highest priority task
\r
1898 is the first to be woken by the event. */
\r
1899 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1901 /* We must remove ourselves from the ready list before adding ourselves
\r
1902 to the blocked list as the same list item is used for both lists. We have
\r
1903 exclusive access to the ready lists as the scheduler is locked. */
\r
1904 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1906 /* The current task must be in a ready list, so there is no need to
\r
1907 check, and the port reset macro can be called directly. */
\r
1908 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1911 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1913 if( xTicksToWait == portMAX_DELAY )
\r
1915 /* Add ourselves to the suspended task list instead of a delayed task
\r
1916 list to ensure we are not woken by a timing event. We will block
\r
1918 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1922 /* Calculate the time at which the task should be woken if the event does
\r
1923 not occur. This may overflow but this doesn't matter. */
\r
1924 xTimeToWake = xTickCount + xTicksToWait;
\r
1925 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1928 #else /* INCLUDE_vTaskSuspend */
\r
1930 /* Calculate the time at which the task should be woken if the event does
\r
1931 not occur. This may overflow but this doesn't matter. */
\r
1932 xTimeToWake = xTickCount + xTicksToWait;
\r
1933 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1935 #endif /* INCLUDE_vTaskSuspend */
\r
1937 /*-----------------------------------------------------------*/
\r
1939 #if configUSE_TIMERS == 1
\r
1941 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1943 portTickType xTimeToWake;
\r
1945 configASSERT( pxEventList );
\r
1947 /* This function should not be called by application code hence the
\r
1948 'Restricted' in its name. It is not part of the public API. It is
\r
1949 designed for use by kernel code, and has special calling requirements -
\r
1950 it should be called from a critical section. */
\r
1953 /* Place the event list item of the TCB in the appropriate event list.
\r
1954 In this case it is assume that this is the only task that is going to
\r
1955 be waiting on this event list, so the faster vListInsertEnd() function
\r
1956 can be used in place of vListInsert. */
\r
1957 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1959 /* We must remove this task from the ready list before adding it to the
\r
1960 blocked list as the same list item is used for both lists. This
\r
1961 function is called form a critical section. */
\r
1962 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1964 /* The current task must be in a ready list, so there is no need to
\r
1965 check, and the port reset macro can be called directly. */
\r
1966 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1969 /* Calculate the time at which the task should be woken if the event does
\r
1970 not occur. This may overflow but this doesn't matter. */
\r
1971 xTimeToWake = xTickCount + xTicksToWait;
\r
1973 traceTASK_DELAY_UNTIL();
\r
1974 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1977 #endif /* configUSE_TIMERS */
\r
1978 /*-----------------------------------------------------------*/
\r
1980 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1982 tskTCB *pxUnblockedTCB;
\r
1983 portBASE_TYPE xReturn;
\r
1985 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1986 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1988 /* The event list is sorted in priority order, so we can remove the
\r
1989 first in the list, remove the TCB from the delayed list, and add
\r
1990 it to the ready list.
\r
1992 If an event is for a queue that is locked then this function will never
\r
1993 get called - the lock count on the queue will get modified instead. This
\r
1994 means we can always expect exclusive access to the event list here.
\r
1996 This function assumes that a check has already been made to ensure that
\r
1997 pxEventList is not empty. */
\r
1998 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1999 configASSERT( pxUnblockedTCB );
\r
2000 uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
2002 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2004 uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
2005 prvAddTaskToReadyList( pxUnblockedTCB );
\r
2009 /* We cannot access the delayed or ready lists, so will hold this
\r
2010 task pending until the scheduler is resumed. */
\r
2011 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2014 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2016 /* Return true if the task removed from the event list has
\r
2017 a higher priority than the calling task. This allows
\r
2018 the calling task to know if it should force a context
\r
2024 xReturn = pdFALSE;
\r
2029 /*-----------------------------------------------------------*/
\r
2031 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
2033 configASSERT( pxTimeOut );
\r
2034 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2035 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2037 /*-----------------------------------------------------------*/
\r
2039 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
2041 portBASE_TYPE xReturn;
\r
2043 configASSERT( pxTimeOut );
\r
2044 configASSERT( pxTicksToWait );
\r
2046 taskENTER_CRITICAL();
\r
2048 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2049 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2050 the maximum block time then the task should block indefinitely, and
\r
2051 therefore never time out. */
\r
2052 if( *pxTicksToWait == portMAX_DELAY )
\r
2054 xReturn = pdFALSE;
\r
2056 else /* We are not blocking indefinitely, perform the checks below. */
\r
2059 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
2061 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2062 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2063 It must have wrapped all the way around and gone past us again. This
\r
2064 passed since vTaskSetTimeout() was called. */
\r
2067 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
2069 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2070 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
2071 vTaskSetTimeOutState( pxTimeOut );
\r
2072 xReturn = pdFALSE;
\r
2079 taskEXIT_CRITICAL();
\r
2083 /*-----------------------------------------------------------*/
\r
2085 void vTaskMissedYield( void )
\r
2087 xYieldPending = pdTRUE;
\r
2089 /*-----------------------------------------------------------*/
\r
2091 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2093 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
2095 unsigned portBASE_TYPE uxReturn;
\r
2098 if( xTask != NULL )
\r
2100 pxTCB = ( tskTCB * ) xTask;
\r
2101 uxReturn = pxTCB->uxTaskNumber;
\r
2111 #endif /* configUSE_TRACE_FACILITY */
\r
2112 /*-----------------------------------------------------------*/
\r
2114 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2116 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
2120 if( xTask != NULL )
\r
2122 pxTCB = ( tskTCB * ) xTask;
\r
2123 pxTCB->uxTaskNumber = uxHandle;
\r
2127 #endif /* configUSE_TRACE_FACILITY */
\r
2130 * -----------------------------------------------------------
\r
2132 * ----------------------------------------------------------
\r
2134 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2135 * language extensions. The equivalent prototype for this function is:
\r
2137 * void prvIdleTask( void *pvParameters );
\r
2140 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2142 /* Stop warnings. */
\r
2143 ( void ) pvParameters;
\r
2147 /* See if any tasks have been deleted. */
\r
2148 prvCheckTasksWaitingTermination();
\r
2150 #if ( configUSE_PREEMPTION == 0 )
\r
2152 /* If we are not using preemption we keep forcing a task switch to
\r
2153 see if any other task has become available. If we are using
\r
2154 preemption we don't need to do this as any task becoming available
\r
2155 will automatically get the processor anyway. */
\r
2158 #endif /* configUSE_PREEMPTION */
\r
2160 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2162 /* When using preemption tasks of equal priority will be
\r
2163 timesliced. If a task that is sharing the idle priority is ready
\r
2164 to run then the idle task should yield before the end of the
\r
2167 A critical region is not required here as we are just reading from
\r
2168 the list, and an occasional incorrect value will not matter. If
\r
2169 the ready list at the idle priority contains more than one task
\r
2170 then a task other than the idle task is ready to execute. */
\r
2171 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2176 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2178 #if ( configUSE_IDLE_HOOK == 1 )
\r
2180 extern void vApplicationIdleHook( void );
\r
2182 /* Call the user defined function from within the idle task. This
\r
2183 allows the application designer to add background functionality
\r
2184 without the overhead of a separate task.
\r
2185 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2186 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2187 vApplicationIdleHook();
\r
2189 #endif /* configUSE_IDLE_HOOK */
\r
2191 /* This conditional compilation should use inequality to 0, not equality
\r
2192 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2193 user defined low power mode implementations require
\r
2194 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2195 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2197 portTickType xExpectedIdleTime;
\r
2199 /* It is not desirable to suspend then resume the scheduler on
\r
2200 each iteration of the idle task. Therefore, a preliminary
\r
2201 test of the expected idle time is performed without the
\r
2202 scheduler suspended. The result here is not necessarily
\r
2204 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2206 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2208 vTaskSuspendAll();
\r
2210 /* Now the scheduler is suspended, the expected idle
\r
2211 time can be sampled again, and this time its value can
\r
2213 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2214 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2216 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2218 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2224 #endif /* configUSE_TICKLESS_IDLE */
\r
2226 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
2227 /*-----------------------------------------------------------*/
\r
2229 #if configUSE_TICKLESS_IDLE != 0
\r
2231 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2233 eSleepModeStatus eReturn = eStandardSleep;
\r
2235 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2237 /* A task was made ready while the scheduler was suspended. */
\r
2238 eReturn = eAbortSleep;
\r
2240 else if( xYieldPending != pdFALSE )
\r
2242 /* A yield was pended while the scheduler was suspended. */
\r
2243 eReturn = eAbortSleep;
\r
2247 #if configUSE_TIMERS == 0
\r
2249 /* The idle task exists in addition to the application tasks. */
\r
2250 const unsigned portBASE_TYPE uxNonApplicationTasks = 1;
\r
2252 /* If timers are not being used and all the tasks are in the
\r
2253 suspended list (which might mean they have an infinite block
\r
2254 time rather than actually being suspended) then it is safe to
\r
2255 turn all clocks off and just wait for external interrupts. */
\r
2256 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2258 eReturn = eNoTasksWaitingTimeout;
\r
2261 #endif /* configUSE_TIMERS */
\r
2266 #endif /* configUSE_TICKLESS_IDLE */
\r
2267 /*-----------------------------------------------------------*/
\r
2269 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2273 /* Store the task name in the TCB. */
\r
2274 for( x = 0; x < configMAX_TASK_NAME_LEN; x++ )
\r
2276 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2278 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2279 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2280 string is not accessible (extremely unlikely). */
\r
2281 if( pcName[ x ] == 0x00 )
\r
2287 /* Ensure the name string is terminated in the case that the string length
\r
2288 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2289 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = ( signed char ) '\0';
\r
2291 /* This is used as an array index so must ensure it's not too large. First
\r
2292 remove the privilege bit if one is present. */
\r
2293 if( uxPriority >= configMAX_PRIORITIES )
\r
2295 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2298 pxTCB->uxPriority = uxPriority;
\r
2299 #if ( configUSE_MUTEXES == 1 )
\r
2301 pxTCB->uxBasePriority = uxPriority;
\r
2303 #endif /* configUSE_MUTEXES */
\r
2305 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2306 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2308 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2309 back to the containing TCB from a generic item in a list. */
\r
2310 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2312 /* Event lists are always in priority order. */
\r
2313 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
2314 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2316 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2318 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2320 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2322 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2324 pxTCB->pxTaskTag = NULL;
\r
2326 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2328 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2330 pxTCB->ulRunTimeCounter = 0UL;
\r
2332 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2334 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2336 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2338 #else /* portUSING_MPU_WRAPPERS */
\r
2340 ( void ) xRegions;
\r
2341 ( void ) usStackDepth;
\r
2343 #endif /* portUSING_MPU_WRAPPERS */
\r
2345 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2347 /* Initialise this task's Newlib reent structure. */
\r
2348 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2350 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2352 /*-----------------------------------------------------------*/
\r
2354 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2356 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2360 if( xTaskToModify == pxCurrentTCB )
\r
2362 xTaskToModify = NULL;
\r
2365 /* If null is passed in here then we are deleting ourselves. */
\r
2366 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2368 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2371 #endif /* portUSING_MPU_WRAPPERS */
\r
2372 /*-----------------------------------------------------------*/
\r
2374 static void prvInitialiseTaskLists( void )
\r
2376 unsigned portBASE_TYPE uxPriority;
\r
2378 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2380 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2383 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2384 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2385 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2387 #if ( INCLUDE_vTaskDelete == 1 )
\r
2389 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2391 #endif /* INCLUDE_vTaskDelete */
\r
2393 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2395 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2397 #endif /* INCLUDE_vTaskSuspend */
\r
2399 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2401 pxDelayedTaskList = &xDelayedTaskList1;
\r
2402 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2404 /*-----------------------------------------------------------*/
\r
2406 static void prvCheckTasksWaitingTermination( void )
\r
2408 #if ( INCLUDE_vTaskDelete == 1 )
\r
2410 portBASE_TYPE xListIsEmpty;
\r
2412 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2413 too often in the idle task. */
\r
2414 while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2416 vTaskSuspendAll();
\r
2417 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2420 if( xListIsEmpty == pdFALSE )
\r
2424 taskENTER_CRITICAL();
\r
2426 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2427 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2428 --uxCurrentNumberOfTasks;
\r
2431 taskEXIT_CRITICAL();
\r
2433 prvDeleteTCB( pxTCB );
\r
2437 #endif /* vTaskDelete */
\r
2439 /*-----------------------------------------------------------*/
\r
2441 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2443 /* The list item will be inserted in wake time order. */
\r
2444 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2446 if( xTimeToWake < xTickCount )
\r
2448 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2449 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2453 /* The wake time has not overflowed, so we can use the current block list. */
\r
2454 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2456 /* If the task entering the blocked state was placed at the head of the
\r
2457 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2459 if( xTimeToWake < xNextTaskUnblockTime )
\r
2461 xNextTaskUnblockTime = xTimeToWake;
\r
2465 /*-----------------------------------------------------------*/
\r
2467 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2471 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2472 the implementation of the port malloc function. */
\r
2473 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2475 if( pxNewTCB != NULL )
\r
2477 /* Allocate space for the stack used by the task being created.
\r
2478 The base of the stack memory stored in the TCB so the task can
\r
2479 be deleted later if required. */
\r
2480 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2482 if( pxNewTCB->pxStack == NULL )
\r
2484 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2485 vPortFree( pxNewTCB );
\r
2490 /* Just to help debugging. */
\r
2491 memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2497 /*-----------------------------------------------------------*/
\r
2499 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2501 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2503 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2504 unsigned short usStackRemaining;
\r
2505 PRIVILEGED_DATA static char pcStatusString[ configMAX_TASK_NAME_LEN + 30 ];
\r
2507 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2508 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2511 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2512 #if ( portSTACK_GROWTH > 0 )
\r
2514 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2518 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2522 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
2523 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2525 } while( pxNextTCB != pxFirstTCB );
\r
2528 #endif /* configUSE_TRACE_FACILITY */
\r
2529 /*-----------------------------------------------------------*/
\r
2531 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2533 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTimeDiv100 )
\r
2535 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2536 unsigned long ulStatsAsPercentage;
\r
2537 size_t xExistingStringLength;
\r
2539 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2540 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2543 /* Get next TCB from the list. */
\r
2544 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2546 /* Divide by zero check. */
\r
2547 if( ulTotalRunTimeDiv100 > 0UL )
\r
2549 xExistingStringLength = strlen( ( char * ) pcWriteBuffer );
\r
2551 /* Has the task run at all? */
\r
2552 if( pxNextTCB->ulRunTimeCounter == 0UL )
\r
2554 /* The task has used no CPU time at all. */
\r
2555 sprintf( ( char * ) &( pcWriteBuffer[ xExistingStringLength ] ), ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2559 /* What percentage of the total run time has the task used?
\r
2560 This will always be rounded down to the nearest integer.
\r
2561 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
2562 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTimeDiv100;
\r
2564 if( ulStatsAsPercentage > 0UL )
\r
2566 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2568 sprintf( ( char * ) &( pcWriteBuffer[ xExistingStringLength ] ), ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2572 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2573 printf() library can be used. */
\r
2574 sprintf( ( char * ) &( pcWriteBuffer[ xExistingStringLength ] ), ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2580 /* If the percentage is zero here then the task has
\r
2581 consumed less than 1% of the total run time. */
\r
2582 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2584 sprintf( ( char * ) &( pcWriteBuffer[ xExistingStringLength ] ), ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2588 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2589 printf() library can be used. */
\r
2590 sprintf( ( char * ) &( pcWriteBuffer[ xExistingStringLength ] ), ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2597 } while( pxNextTCB != pxFirstTCB );
\r
2600 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2601 /*-----------------------------------------------------------*/
\r
2603 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2605 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2607 register unsigned short usCount = 0U;
\r
2609 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2611 pucStackByte -= portSTACK_GROWTH;
\r
2615 usCount /= sizeof( portSTACK_TYPE );
\r
2620 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
2621 /*-----------------------------------------------------------*/
\r
2623 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2625 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2628 unsigned char *pcEndOfStack;
\r
2629 unsigned portBASE_TYPE uxReturn;
\r
2631 pxTCB = prvGetTCBFromHandle( xTask );
\r
2633 #if portSTACK_GROWTH < 0
\r
2635 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2639 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2643 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2648 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
2649 /*-----------------------------------------------------------*/
\r
2651 #if ( INCLUDE_vTaskDelete == 1 )
\r
2653 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2655 /* This call is required specifically for the TriCore port. It must be
\r
2656 above the vPortFree() calls. The call is also used by ports/demos that
\r
2657 want to allocate and clean RAM statically. */
\r
2658 portCLEAN_UP_TCB( pxTCB );
\r
2660 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2661 the task to free any memory allocated at the application level. */
\r
2662 vPortFreeAligned( pxTCB->pxStack );
\r
2663 vPortFree( pxTCB );
\r
2666 #endif /* INCLUDE_vTaskDelete */
\r
2667 /*-----------------------------------------------------------*/
\r
2669 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2671 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2673 xTaskHandle xReturn;
\r
2675 /* A critical section is not required as this is not called from
\r
2676 an interrupt and the current TCB will always be the same for any
\r
2677 individual execution thread. */
\r
2678 xReturn = pxCurrentTCB;
\r
2683 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
2684 /*-----------------------------------------------------------*/
\r
2686 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2688 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2690 portBASE_TYPE xReturn;
\r
2692 if( xSchedulerRunning == pdFALSE )
\r
2694 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2698 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2700 xReturn = taskSCHEDULER_RUNNING;
\r
2704 xReturn = taskSCHEDULER_SUSPENDED;
\r
2711 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
2712 /*-----------------------------------------------------------*/
\r
2714 #if ( configUSE_MUTEXES == 1 )
\r
2716 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2718 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2720 /* If the mutex was given back by an interrupt while the queue was
\r
2721 locked then the mutex holder might now be NULL. */
\r
2722 if( pxMutexHolder != NULL )
\r
2724 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2726 /* Adjust the mutex holder state to account for its new priority. */
\r
2727 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2729 /* If the task being modified is in the ready state it will need to
\r
2730 be moved into a new list. */
\r
2731 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2733 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2735 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2738 /* Inherit the priority before being moved into the new list. */
\r
2739 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2740 prvAddTaskToReadyList( pxTCB );
\r
2744 /* Just inherit the priority. */
\r
2745 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2748 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2753 #endif /* configUSE_MUTEXES */
\r
2754 /*-----------------------------------------------------------*/
\r
2756 #if ( configUSE_MUTEXES == 1 )
\r
2758 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2760 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2762 if( pxMutexHolder != NULL )
\r
2764 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2766 /* We must be the running task to be able to give the mutex back.
\r
2767 Remove ourselves from the ready list we currently appear in. */
\r
2768 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2770 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2773 /* Disinherit the priority before adding the task into the new
\r
2775 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2776 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2777 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2778 prvAddTaskToReadyList( pxTCB );
\r
2783 #endif /* configUSE_MUTEXES */
\r
2784 /*-----------------------------------------------------------*/
\r
2786 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2788 void vTaskEnterCritical( void )
\r
2790 portDISABLE_INTERRUPTS();
\r
2792 if( xSchedulerRunning != pdFALSE )
\r
2794 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2798 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2799 /*-----------------------------------------------------------*/
\r
2801 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2803 void vTaskExitCritical( void )
\r
2805 if( xSchedulerRunning != pdFALSE )
\r
2807 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2809 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2811 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2813 portENABLE_INTERRUPTS();
\r
2819 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2820 /*-----------------------------------------------------------*/
\r
projects / freertos / blob