2 FreeRTOS V7.4.2 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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75 /* Standard includes. */
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80 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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81 all the API functions to use the MPU wrappers. That should only be done when
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82 task.h is included from an application file. */
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83 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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85 /* FreeRTOS includes. */
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86 #include "FreeRTOS.h"
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89 #include "StackMacros.h"
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91 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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93 /* Sanity check the configuration. */
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94 #if configUSE_TICKLESS_IDLE != 0
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95 #if INCLUDE_vTaskSuspend != 1
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96 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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97 #endif /* INCLUDE_vTaskSuspend */
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98 #endif /* configUSE_TICKLESS_IDLE */
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101 * Defines the size, in words, of the stack allocated to the idle task.
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103 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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106 * Task control block. A task control block (TCB) is allocated for each task,
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107 * and stores task state information, including a pointer to the task's context
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108 * (the task's run time environment, including register values)
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110 typedef struct tskTaskControlBlock
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112 volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
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114 #if ( portUSING_MPU_WRAPPERS == 1 )
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115 xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
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118 xListItem xGenericListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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119 xListItem xEventListItem; /*< Used to reference a task from an event list. */
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120 unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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121 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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122 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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124 #if ( portSTACK_GROWTH > 0 )
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125 portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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128 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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129 unsigned portBASE_TYPE uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
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132 #if ( configUSE_TRACE_FACILITY == 1 )
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133 unsigned portBASE_TYPE uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
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134 unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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137 #if ( configUSE_MUTEXES == 1 )
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138 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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141 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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142 pdTASK_HOOK_CODE pxTaskTag;
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145 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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146 unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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153 * Some kernel aware debuggers require the data the debugger needs access to to
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154 * be global, rather than file scope.
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156 #ifdef portREMOVE_STATIC_QUALIFIER
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161 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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163 /* Lists for ready and blocked tasks. --------------------*/
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164 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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165 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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166 PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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167 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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168 PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
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169 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */
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171 #if ( INCLUDE_vTaskDelete == 1 )
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173 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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174 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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178 #if ( INCLUDE_vTaskSuspend == 1 )
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180 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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184 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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186 PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
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190 /* File private variables. --------------------------------*/
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191 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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192 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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193 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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194 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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195 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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196 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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197 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxPendedTicks = ( unsigned portBASE_TYPE ) 0U;
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198 PRIVILEGED_DATA static volatile portBASE_TYPE xYieldPending = ( portBASE_TYPE ) pdFALSE;
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199 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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200 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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201 PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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203 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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205 PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
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206 PRIVILEGED_DATA static unsigned long ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
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207 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTimeDiv100 ) PRIVILEGED_FUNCTION;
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211 /* Debugging and trace facilities private variables and macros. ------------*/
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214 * The value used to fill the stack of a task when the task is created. This
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215 * is used purely for checking the high water mark for tasks.
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217 #define tskSTACK_FILL_BYTE ( 0xa5U )
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220 * Macros used by vListTask to indicate which state a task is in.
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222 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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223 #define tskREADY_CHAR ( ( signed char ) 'R' )
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224 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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225 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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227 /*-----------------------------------------------------------*/
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229 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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231 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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232 performed in a generic way that is not optimised to any particular
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233 microcontroller architecture. */
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235 /* uxTopReadyPriority holds the priority of the highest priority ready
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237 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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239 if( ( uxPriority ) > uxTopReadyPriority ) \
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241 uxTopReadyPriority = ( uxPriority ); \
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243 } /* taskRECORD_READY_PRIORITY */
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245 /*-----------------------------------------------------------*/
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247 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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249 /* Find the highest priority queue that contains ready tasks. */ \
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250 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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252 configASSERT( uxTopReadyPriority ); \
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253 --uxTopReadyPriority; \
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256 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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257 the same priority get an equal share of the processor time. */ \
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258 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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259 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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261 /*-----------------------------------------------------------*/
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263 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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264 they are only required when a port optimised method of task selection is
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266 #define taskRESET_READY_PRIORITY( uxPriority )
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267 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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269 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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271 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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272 performed in a way that is tailored to the particular microcontroller
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273 architecture being used. */
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275 /* A port optimised version is provided. Call the port defined macros. */
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276 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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278 /*-----------------------------------------------------------*/
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280 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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282 unsigned portBASE_TYPE uxTopPriority; \
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284 /* Find the highest priority queue that contains ready tasks. */ \
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285 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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286 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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287 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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288 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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290 /*-----------------------------------------------------------*/
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292 /* A port optimised version is provided, call it only if the TCB being reset
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293 is being referenced from a ready list. If it is referenced from a delayed
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294 or suspended list then it won't be in a ready list. */
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295 #define taskRESET_READY_PRIORITY( uxPriority ) \
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297 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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299 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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303 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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305 /*-----------------------------------------------------------*/
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307 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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308 count overflows. */
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309 #define taskSWITCH_DELAYED_LISTS() \
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313 /* The delayed tasks list should be empty when the lists are switched. */ \
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314 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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316 pxTemp = pxDelayedTaskList; \
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317 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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318 pxOverflowDelayedTaskList = pxTemp; \
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319 xNumOfOverflows++; \
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321 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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323 /* The new current delayed list is empty. Set \
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324 xNextTaskUnblockTime to the maximum possible value so it is \
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325 extremely unlikely that the \
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326 if( xTickCount >= xNextTaskUnblockTime ) test will pass until \
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327 there is an item in the delayed list. */ \
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328 xNextTaskUnblockTime = portMAX_DELAY; \
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332 /* The new current delayed list is not empty, get the value of \
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333 the item at the head of the delayed list. This is the time at \
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334 which the task at the head of the delayed list should be removed \
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335 from the Blocked state. */ \
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336 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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337 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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341 /*-----------------------------------------------------------*/
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344 * Place the task represented by pxTCB into the appropriate ready queue for
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345 * the task. It is inserted at the end of the list. One quirk of this is
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346 * that if the task being inserted is at the same priority as the currently
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347 * executing task, then it will only be rescheduled after the currently
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348 * executing task has been rescheduled.
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350 #define prvAddTaskToReadyQueue( pxTCB ) \
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351 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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352 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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353 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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354 /*-----------------------------------------------------------*/
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357 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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358 * where NULL is used to indicate that the handle of the currently executing
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359 * task should be used in place of the parameter. This macro simply checks to
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360 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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362 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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364 /* Callback function prototypes. --------------------------*/
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365 extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
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366 extern void vApplicationTickHook( void );
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368 /* File private functions. --------------------------------*/
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371 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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372 * into the TCB structure.
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374 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
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377 * Utility to ready all the lists used by the scheduler. This is called
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378 * automatically upon the creation of the first task.
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380 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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383 * The idle task, which as all tasks is implemented as a never ending loop.
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384 * The idle task is automatically created and added to the ready lists upon
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385 * creation of the first user task.
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387 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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388 * language extensions. The equivalent prototype for this function is:
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390 * void prvIdleTask( void *pvParameters );
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393 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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396 * Utility to free all memory allocated by the scheduler to hold a TCB,
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397 * including the stack pointed to by the TCB.
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399 * This does not free memory allocated by the task itself (i.e. memory
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400 * allocated by calls to pvPortMalloc from within the tasks application code).
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402 #if ( INCLUDE_vTaskDelete == 1 )
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404 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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409 * Used only by the idle task. This checks to see if anything has been placed
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410 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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411 * and its TCB deleted.
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413 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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416 * The currently executing task is entering the Blocked state. Add the task to
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417 * either the current or the overflow delayed task list.
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419 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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422 * Allocates memory from the heap for a TCB and associated stack. Checks the
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423 * allocation was successful.
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425 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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428 * Called from vTaskList. vListTasks details all the tasks currently under
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429 * control of the scheduler. The tasks may be in one of a number of lists.
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430 * prvListTaskWithinSingleList accepts a list and details the tasks from
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431 * within just that list.
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433 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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434 * NORMAL APPLICATION CODE.
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436 #if ( configUSE_TRACE_FACILITY == 1 )
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438 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
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443 * When a task is created, the stack of the task is filled with a known value.
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444 * This function determines the 'high water mark' of the task stack by
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445 * determining how much of the stack remains at the original preset value.
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447 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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449 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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454 * Return the amount of time, in ticks, that will pass before the kernel will
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455 * next move a task from the Blocked state to the Running state.
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457 * This conditional compilation should use inequality to 0, not equality to 1.
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458 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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459 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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460 * set to a value other than 1.
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462 #if ( configUSE_TICKLESS_IDLE != 0 )
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464 static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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470 signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
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472 signed portBASE_TYPE xReturn;
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475 configASSERT( pxTaskCode );
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476 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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478 /* Allocate the memory required by the TCB and stack for the new task,
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479 checking that the allocation was successful. */
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480 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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482 if( pxNewTCB != NULL )
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484 portSTACK_TYPE *pxTopOfStack;
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486 #if( portUSING_MPU_WRAPPERS == 1 )
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487 /* Should the task be created in privileged mode? */
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488 portBASE_TYPE xRunPrivileged;
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489 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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491 xRunPrivileged = pdTRUE;
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495 xRunPrivileged = pdFALSE;
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497 uxPriority &= ~portPRIVILEGE_BIT;
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498 #endif /* portUSING_MPU_WRAPPERS == 1 */
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500 /* Calculate the top of stack address. This depends on whether the
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501 stack grows from high memory to low (as per the 80x86) or visa versa.
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502 portSTACK_GROWTH is used to make the result positive or negative as
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503 required by the port. */
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504 #if( portSTACK_GROWTH < 0 )
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506 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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507 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
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509 /* Check the alignment of the calculated top of stack is correct. */
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510 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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512 #else /* portSTACK_GROWTH */
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514 pxTopOfStack = pxNewTCB->pxStack;
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516 /* Check the alignment of the stack buffer is correct. */
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517 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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519 /* If we want to use stack checking on architectures that use
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520 a positive stack growth direction then we also need to store the
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521 other extreme of the stack space. */
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522 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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524 #endif /* portSTACK_GROWTH */
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526 /* Setup the newly allocated TCB with the initial state of the task. */
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527 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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529 /* Initialize the TCB stack to look as if the task was already running,
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530 but had been interrupted by the scheduler. The return address is set
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531 to the start of the task function. Once the stack has been initialised
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532 the top of stack variable is updated. */
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533 #if( portUSING_MPU_WRAPPERS == 1 )
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535 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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537 #else /* portUSING_MPU_WRAPPERS */
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539 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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541 #endif /* portUSING_MPU_WRAPPERS */
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543 if( ( void * ) pxCreatedTask != NULL )
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545 /* Pass the TCB out - in an anonymous way. The calling function/
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546 task can use this as a handle to delete the task later if
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548 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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551 /* We are going to manipulate the task queues to add this task to a
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552 ready list, so must make sure no interrupts occur. */
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553 taskENTER_CRITICAL();
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555 uxCurrentNumberOfTasks++;
\r
556 if( pxCurrentTCB == NULL )
\r
558 /* There are no other tasks, or all the other tasks are in
\r
559 the suspended state - make this the current task. */
\r
560 pxCurrentTCB = pxNewTCB;
\r
562 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
564 /* This is the first task to be created so do the preliminary
\r
565 initialisation required. We will not recover if this call
\r
566 fails, but we will report the failure. */
\r
567 prvInitialiseTaskLists();
\r
572 /* If the scheduler is not already running, make this task the
\r
573 current task if it is the highest priority task to be created
\r
575 if( xSchedulerRunning == pdFALSE )
\r
577 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
579 pxCurrentTCB = pxNewTCB;
\r
584 /* Remember the top priority to make context switching faster. Use
\r
585 the priority in pxNewTCB as this has been capped to a valid value. */
\r
586 if( pxNewTCB->uxPriority > uxTopUsedPriority )
\r
588 uxTopUsedPriority = pxNewTCB->uxPriority;
\r
593 #if ( configUSE_TRACE_FACILITY == 1 )
\r
595 /* Add a counter into the TCB for tracing only. */
\r
596 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
598 #endif /* configUSE_TRACE_FACILITY */
\r
599 traceTASK_CREATE( pxNewTCB );
\r
601 prvAddTaskToReadyQueue( pxNewTCB );
\r
604 portSETUP_TCB( pxNewTCB );
\r
606 taskEXIT_CRITICAL();
\r
610 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
611 traceTASK_CREATE_FAILED();
\r
614 if( xReturn == pdPASS )
\r
616 if( xSchedulerRunning != pdFALSE )
\r
618 /* If the created task is of a higher priority than the current task
\r
619 then it should run now. */
\r
620 if( pxCurrentTCB->uxPriority < uxPriority )
\r
622 portYIELD_WITHIN_API();
\r
629 /*-----------------------------------------------------------*/
\r
631 #if ( INCLUDE_vTaskDelete == 1 )
\r
633 void vTaskDelete( xTaskHandle xTaskToDelete )
\r
637 taskENTER_CRITICAL();
\r
639 /* Ensure a yield is performed if the current task is being
\r
641 if( xTaskToDelete == pxCurrentTCB )
\r
643 xTaskToDelete = NULL;
\r
646 /* If null is passed in here then we are deleting ourselves. */
\r
647 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
649 /* Remove task from the ready list and place in the termination list.
\r
650 This will stop the task from be scheduled. The idle task will check
\r
651 the termination list and free up any memory allocated by the
\r
652 scheduler for the TCB and stack. */
\r
653 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
655 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
658 /* Is the task waiting on an event also? */
\r
659 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
661 uxListRemove( &( pxTCB->xEventListItem ) );
\r
664 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
666 /* Increment the ucTasksDeleted variable so the idle task knows
\r
667 there is a task that has been deleted and that it should therefore
\r
668 check the xTasksWaitingTermination list. */
\r
671 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
672 can detect that the task lists need re-generating. */
\r
675 traceTASK_DELETE( pxTCB );
\r
677 taskEXIT_CRITICAL();
\r
679 /* Force a reschedule if we have just deleted the current task. */
\r
680 if( xSchedulerRunning != pdFALSE )
\r
682 if( ( void * ) xTaskToDelete == NULL )
\r
684 portYIELD_WITHIN_API();
\r
689 #endif /* INCLUDE_vTaskDelete */
\r
690 /*-----------------------------------------------------------*/
\r
692 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
694 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
696 portTickType xTimeToWake;
\r
697 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
699 configASSERT( pxPreviousWakeTime );
\r
700 configASSERT( ( xTimeIncrement > 0U ) );
\r
704 /* Generate the tick time at which the task wants to wake. */
\r
705 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
707 if( xTickCount < *pxPreviousWakeTime )
\r
709 /* The tick count has overflowed since this function was
\r
710 lasted called. In this case the only time we should ever
\r
711 actually delay is if the wake time has also overflowed,
\r
712 and the wake time is greater than the tick time. When this
\r
713 is the case it is as if neither time had overflowed. */
\r
714 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
716 xShouldDelay = pdTRUE;
\r
721 /* The tick time has not overflowed. In this case we will
\r
722 delay if either the wake time has overflowed, and/or the
\r
723 tick time is less than the wake time. */
\r
724 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
726 xShouldDelay = pdTRUE;
\r
730 /* Update the wake time ready for the next call. */
\r
731 *pxPreviousWakeTime = xTimeToWake;
\r
733 if( xShouldDelay != pdFALSE )
\r
735 traceTASK_DELAY_UNTIL();
\r
737 /* We must remove ourselves from the ready list before adding
\r
738 ourselves to the blocked list as the same list item is used for
\r
740 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
742 /* The current task must be in a ready list, so there is
\r
743 no need to check, and the port reset macro can be called
\r
745 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
748 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
751 xAlreadyYielded = xTaskResumeAll();
\r
753 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
754 have put ourselves to sleep. */
\r
755 if( xAlreadyYielded == pdFALSE )
\r
757 portYIELD_WITHIN_API();
\r
761 #endif /* INCLUDE_vTaskDelayUntil */
\r
762 /*-----------------------------------------------------------*/
\r
764 #if ( INCLUDE_vTaskDelay == 1 )
\r
766 void vTaskDelay( portTickType xTicksToDelay )
\r
768 portTickType xTimeToWake;
\r
769 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
771 /* A delay time of zero just forces a reschedule. */
\r
772 if( xTicksToDelay > ( portTickType ) 0U )
\r
778 /* A task that is removed from the event list while the
\r
779 scheduler is suspended will not get placed in the ready
\r
780 list or removed from the blocked list until the scheduler
\r
783 This task cannot be in an event list as it is the currently
\r
786 /* Calculate the time to wake - this may overflow but this is
\r
788 xTimeToWake = xTickCount + xTicksToDelay;
\r
790 /* We must remove ourselves from the ready list before adding
\r
791 ourselves to the blocked list as the same list item is used for
\r
793 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
795 /* The current task must be in a ready list, so there is
\r
796 no need to check, and the port reset macro can be called
\r
798 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
800 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
802 xAlreadyYielded = xTaskResumeAll();
\r
805 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
806 have put ourselves to sleep. */
\r
807 if( xAlreadyYielded == pdFALSE )
\r
809 portYIELD_WITHIN_API();
\r
813 #endif /* INCLUDE_vTaskDelay */
\r
814 /*-----------------------------------------------------------*/
\r
816 #if ( INCLUDE_eTaskGetState == 1 )
\r
818 eTaskState eTaskGetState( xTaskHandle xTask )
\r
820 eTaskState eReturn;
\r
821 xList *pxStateList;
\r
824 pxTCB = ( tskTCB * ) xTask;
\r
826 if( pxTCB == pxCurrentTCB )
\r
828 /* The task calling this function is querying its own state. */
\r
829 eReturn = eRunning;
\r
833 taskENTER_CRITICAL();
\r
835 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
837 taskEXIT_CRITICAL();
\r
839 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
841 /* The task being queried is referenced from one of the Blocked
\r
843 eReturn = eBlocked;
\r
846 #if ( INCLUDE_vTaskSuspend == 1 )
\r
847 else if( pxStateList == &xSuspendedTaskList )
\r
849 /* The task being queried is referenced from the suspended
\r
851 eReturn = eSuspended;
\r
855 #if ( INCLUDE_vTaskDelete == 1 )
\r
856 else if( pxStateList == &xTasksWaitingTermination )
\r
858 /* The task being queried is referenced from the deleted
\r
860 eReturn = eDeleted;
\r
866 /* If the task is not in any other state, it must be in the
\r
867 Ready (including pending ready) state. */
\r
875 #endif /* INCLUDE_eTaskGetState */
\r
876 /*-----------------------------------------------------------*/
\r
878 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
880 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
\r
883 unsigned portBASE_TYPE uxReturn;
\r
885 taskENTER_CRITICAL();
\r
887 /* If null is passed in here then we are changing the
\r
888 priority of the calling function. */
\r
889 pxTCB = prvGetTCBFromHandle( xTask );
\r
890 uxReturn = pxTCB->uxPriority;
\r
892 taskEXIT_CRITICAL();
\r
897 #endif /* INCLUDE_uxTaskPriorityGet */
\r
898 /*-----------------------------------------------------------*/
\r
900 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
902 void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
\r
905 unsigned portBASE_TYPE uxCurrentPriority, uxPriorityUsedOnEntry;
\r
906 portBASE_TYPE xYieldRequired = pdFALSE;
\r
908 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
910 /* Ensure the new priority is valid. */
\r
911 if( uxNewPriority >= configMAX_PRIORITIES )
\r
913 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
916 taskENTER_CRITICAL();
\r
918 if( xTask == ( xTaskHandle ) pxCurrentTCB )
\r
923 /* If null is passed in here then we are changing the
\r
924 priority of the calling function. */
\r
925 pxTCB = prvGetTCBFromHandle( xTask );
\r
927 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
929 #if ( configUSE_MUTEXES == 1 )
\r
931 uxCurrentPriority = pxTCB->uxBasePriority;
\r
935 uxCurrentPriority = pxTCB->uxPriority;
\r
939 if( uxCurrentPriority != uxNewPriority )
\r
941 /* The priority change may have readied a task of higher
\r
942 priority than the calling task. */
\r
943 if( uxNewPriority > uxCurrentPriority )
\r
945 if( xTask != NULL )
\r
947 /* The priority of another task is being raised. If we
\r
948 were raising the priority of the currently running task
\r
949 there would be no need to switch as it must have already
\r
950 been the highest priority task. */
\r
951 xYieldRequired = pdTRUE;
\r
954 else if( xTask == NULL )
\r
956 /* Setting our own priority down means there may now be another
\r
957 task of higher priority that is ready to execute. */
\r
958 xYieldRequired = pdTRUE;
\r
961 /* Remember the ready list the task might be referenced from
\r
962 before its uxPriority member is changed so the
\r
963 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
964 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
966 #if ( configUSE_MUTEXES == 1 )
\r
968 /* Only change the priority being used if the task is not
\r
969 currently using an inherited priority. */
\r
970 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
972 pxTCB->uxPriority = uxNewPriority;
\r
975 /* The base priority gets set whatever. */
\r
976 pxTCB->uxBasePriority = uxNewPriority;
\r
980 pxTCB->uxPriority = uxNewPriority;
\r
984 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
986 /* If the task is in the blocked or suspended list we need do
\r
987 nothing more than change it's priority variable. However, if
\r
988 the task is in a ready list it needs to be removed and placed
\r
989 in the queue appropriate to its new priority. */
\r
990 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
992 /* The task is currently in its ready list - remove before adding
\r
993 it to it's new ready list. As we are in a critical section we
\r
994 can do this even if the scheduler is suspended. */
\r
995 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
997 taskRESET_READY_PRIORITY( uxPriorityUsedOnEntry );
\r
999 prvAddTaskToReadyQueue( pxTCB );
\r
1002 if( xYieldRequired == pdTRUE )
\r
1004 portYIELD_WITHIN_API();
\r
1007 /* Remove compiler warning about unused variables when the port
\r
1008 optimised task selection is not being used. */
\r
1009 ( void ) uxPriorityUsedOnEntry;
\r
1012 taskEXIT_CRITICAL();
\r
1015 #endif /* INCLUDE_vTaskPrioritySet */
\r
1016 /*-----------------------------------------------------------*/
\r
1018 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1020 void vTaskSuspend( xTaskHandle xTaskToSuspend )
\r
1024 taskENTER_CRITICAL();
\r
1026 /* Ensure a yield is performed if the current task is being
\r
1028 if( xTaskToSuspend == ( xTaskHandle ) pxCurrentTCB )
\r
1030 xTaskToSuspend = NULL;
\r
1033 /* If null is passed in here then we are suspending ourselves. */
\r
1034 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1036 traceTASK_SUSPEND( pxTCB );
\r
1038 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
1039 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1041 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1044 /* Is the task waiting on an event also? */
\r
1045 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
1047 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1050 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1052 taskEXIT_CRITICAL();
\r
1054 if( ( void * ) xTaskToSuspend == NULL )
\r
1056 if( xSchedulerRunning != pdFALSE )
\r
1058 /* We have just suspended the current task. */
\r
1059 portYIELD_WITHIN_API();
\r
1063 /* The scheduler is not running, but the task that was pointed
\r
1064 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1065 must be adjusted to point to a different task. */
\r
1066 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1068 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1069 NULL so when the next task is created pxCurrentTCB will
\r
1070 be set to point to it no matter what its relative priority
\r
1072 pxCurrentTCB = NULL;
\r
1076 vTaskSwitchContext();
\r
1082 #endif /* INCLUDE_vTaskSuspend */
\r
1083 /*-----------------------------------------------------------*/
\r
1085 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1087 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
1089 portBASE_TYPE xReturn = pdFALSE;
\r
1090 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1092 /* It does not make sense to check if the calling task is suspended. */
\r
1093 configASSERT( xTask );
\r
1095 /* Is the task we are attempting to resume actually in the
\r
1096 suspended list? */
\r
1097 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1099 /* Has the task already been resumed from within an ISR? */
\r
1100 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
1102 /* Is it in the suspended list because it is in the
\r
1103 Suspended state? It is possible to be in the suspended
\r
1104 list because it is blocked on a task with no timeout
\r
1106 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
1116 #endif /* INCLUDE_vTaskSuspend */
\r
1117 /*-----------------------------------------------------------*/
\r
1119 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1121 void vTaskResume( xTaskHandle xTaskToResume )
\r
1125 /* It does not make sense to resume the calling task. */
\r
1126 configASSERT( xTaskToResume );
\r
1128 /* Remove the task from whichever list it is currently in, and place
\r
1129 it in the ready list. */
\r
1130 pxTCB = ( tskTCB * ) xTaskToResume;
\r
1132 /* The parameter cannot be NULL as it is impossible to resume the
\r
1133 currently executing task. */
\r
1134 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1136 taskENTER_CRITICAL();
\r
1138 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1140 traceTASK_RESUME( pxTCB );
\r
1142 /* As we are in a critical section we can access the ready
\r
1143 lists even if the scheduler is suspended. */
\r
1144 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1145 prvAddTaskToReadyQueue( pxTCB );
\r
1147 /* We may have just resumed a higher priority task. */
\r
1148 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1150 /* This yield may not cause the task just resumed to run, but
\r
1151 will leave the lists in the correct state for the next yield. */
\r
1152 portYIELD_WITHIN_API();
\r
1156 taskEXIT_CRITICAL();
\r
1160 #endif /* INCLUDE_vTaskSuspend */
\r
1162 /*-----------------------------------------------------------*/
\r
1164 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1166 portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
\r
1168 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1170 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1172 configASSERT( xTaskToResume );
\r
1174 pxTCB = ( tskTCB * ) xTaskToResume;
\r
1176 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1178 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1180 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1182 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1184 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1185 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1186 prvAddTaskToReadyQueue( pxTCB );
\r
1190 /* We cannot access the delayed or ready lists, so will hold this
\r
1191 task pending until the scheduler is resumed, at which point a
\r
1192 yield will be performed if necessary. */
\r
1193 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1197 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1199 return xYieldRequired;
\r
1202 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1203 /*-----------------------------------------------------------*/
\r
1205 void vTaskStartScheduler( void )
\r
1207 portBASE_TYPE xReturn;
\r
1209 /* Add the idle task at the lowest priority. */
\r
1210 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1212 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1213 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1214 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );
\r
1218 /* Create the idle task without storing its handle. */
\r
1219 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
\r
1221 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1223 #if ( configUSE_TIMERS == 1 )
\r
1225 if( xReturn == pdPASS )
\r
1227 xReturn = xTimerCreateTimerTask();
\r
1230 #endif /* configUSE_TIMERS */
\r
1232 if( xReturn == pdPASS )
\r
1234 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1235 before or during the call to xPortStartScheduler(). The stacks of
\r
1236 the created tasks contain a status word with interrupts switched on
\r
1237 so interrupts will automatically get re-enabled when the first task
\r
1240 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1241 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1242 portDISABLE_INTERRUPTS();
\r
1244 xSchedulerRunning = pdTRUE;
\r
1245 xTickCount = ( portTickType ) 0U;
\r
1247 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1248 macro must be defined to configure the timer/counter used to generate
\r
1249 the run time counter time base. */
\r
1250 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1252 /* Setting up the timer tick is hardware specific and thus in the
\r
1253 portable interface. */
\r
1254 if( xPortStartScheduler() != pdFALSE )
\r
1256 /* Should not reach here as if the scheduler is running the
\r
1257 function will not return. */
\r
1261 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1266 /* This line will only be reached if the kernel could not be started,
\r
1267 because there was not enough FreeRTOS heap to create the idle task
\r
1268 or the timer task. */
\r
1269 configASSERT( xReturn );
\r
1272 /*-----------------------------------------------------------*/
\r
1274 void vTaskEndScheduler( void )
\r
1276 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1277 routine so the original ISRs can be restored if necessary. The port
\r
1278 layer must ensure interrupts enable bit is left in the correct state. */
\r
1279 portDISABLE_INTERRUPTS();
\r
1280 xSchedulerRunning = pdFALSE;
\r
1281 vPortEndScheduler();
\r
1283 /*----------------------------------------------------------*/
\r
1285 void vTaskSuspendAll( void )
\r
1287 /* A critical section is not required as the variable is of type
\r
1289 ++uxSchedulerSuspended;
\r
1291 /*----------------------------------------------------------*/
\r
1293 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1295 static portTickType prvGetExpectedIdleTime( void )
\r
1297 portTickType xReturn;
\r
1299 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1303 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1305 /* There are other idle priority tasks in the ready state. If
\r
1306 time slicing is used then the very next tick interrupt must be
\r
1312 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1318 #endif /* configUSE_TICKLESS_IDLE */
\r
1319 /*----------------------------------------------------------*/
\r
1321 signed portBASE_TYPE xTaskResumeAll( void )
\r
1323 register tskTCB *pxTCB;
\r
1324 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1325 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1327 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1328 previous call to vTaskSuspendAll(). */
\r
1329 configASSERT( uxSchedulerSuspended );
\r
1331 /* It is possible that an ISR caused a task to be removed from an event
\r
1332 list while the scheduler was suspended. If this was the case then the
\r
1333 removed task will have been added to the xPendingReadyList. Once the
\r
1334 scheduler has been resumed it is safe to move all the pending ready
\r
1335 tasks from this list into their appropriate ready list. */
\r
1336 taskENTER_CRITICAL();
\r
1338 --uxSchedulerSuspended;
\r
1340 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1342 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1344 /* Move any readied tasks from the pending list into the
\r
1345 appropriate ready list. */
\r
1346 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1348 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1349 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1350 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1351 prvAddTaskToReadyQueue( pxTCB );
\r
1353 /* If we have moved a task that has a priority higher than
\r
1354 the current task then we should yield. */
\r
1355 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1357 xYieldRequired = pdTRUE;
\r
1361 /* If any ticks occurred while the scheduler was suspended then
\r
1362 they should be processed now. This ensures the tick count does not
\r
1363 slip, and that any delayed tasks are resumed at the correct time. */
\r
1364 if( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1366 while( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1368 if( xTaskIncrementTick() != pdFALSE )
\r
1370 xYieldRequired = pdTRUE;
\r
1376 if( ( xYieldRequired == pdTRUE ) || ( xYieldPending == pdTRUE ) )
\r
1378 xAlreadyYielded = pdTRUE;
\r
1379 xYieldPending = pdFALSE;
\r
1380 portYIELD_WITHIN_API();
\r
1385 taskEXIT_CRITICAL();
\r
1387 return xAlreadyYielded;
\r
1389 /*-----------------------------------------------------------*/
\r
1391 portTickType xTaskGetTickCount( void )
\r
1393 portTickType xTicks;
\r
1395 /* Critical section required if running on a 16 bit processor. */
\r
1396 taskENTER_CRITICAL();
\r
1398 xTicks = xTickCount;
\r
1400 taskEXIT_CRITICAL();
\r
1404 /*-----------------------------------------------------------*/
\r
1406 portTickType xTaskGetTickCountFromISR( void )
\r
1408 portTickType xReturn;
\r
1409 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1411 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1412 xReturn = xTickCount;
\r
1413 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1417 /*-----------------------------------------------------------*/
\r
1419 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1421 /* A critical section is not required because the variables are of type
\r
1423 return uxCurrentNumberOfTasks;
\r
1425 /*-----------------------------------------------------------*/
\r
1427 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1429 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1433 /* If null is passed in here then the name of the calling task is being queried. */
\r
1434 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1435 configASSERT( pxTCB );
\r
1436 return &( pxTCB->pcTaskName[ 0 ] );
\r
1439 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1440 /*-----------------------------------------------------------*/
\r
1442 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1444 void vTaskList( signed char *pcWriteBuffer )
\r
1446 unsigned portBASE_TYPE uxQueue;
\r
1448 /* This is a VERY costly function that should be used for debug only.
\r
1449 It leaves interrupts disabled for a LONG time. */
\r
1451 vTaskSuspendAll();
\r
1453 /* Run through all the lists that could potentially contain a TCB and
\r
1454 report the task name, state and stack high water mark. */
\r
1456 *pcWriteBuffer = ( signed char ) 0x00;
\r
1457 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1459 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1465 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1467 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1469 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1471 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1473 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1476 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1478 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1481 #if( INCLUDE_vTaskDelete == 1 )
\r
1483 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1485 prvListTaskWithinSingleList( pcWriteBuffer, &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1490 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1492 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1494 prvListTaskWithinSingleList( pcWriteBuffer, &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1502 #endif /* configUSE_TRACE_FACILITY */
\r
1503 /*----------------------------------------------------------*/
\r
1505 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1507 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1509 unsigned portBASE_TYPE uxQueue;
\r
1510 unsigned long ulTotalRunTimeDiv100;
\r
1512 /* This is a VERY costly function that should be used for debug only.
\r
1513 It leaves interrupts disabled for a LONG time. */
\r
1515 vTaskSuspendAll();
\r
1517 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1518 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1520 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1523 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1524 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1525 ulTotalRunTimeDiv100 = ulTotalRunTime / 100UL;
\r
1527 /* Run through all the lists that could potentially contain a TCB,
\r
1528 generating a table of run timer percentages in the provided
\r
1531 *pcWriteBuffer = ( signed char ) 0x00;
\r
1532 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1534 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1540 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1542 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTimeDiv100 );
\r
1544 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1546 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1548 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTimeDiv100 );
\r
1551 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1553 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTimeDiv100 );
\r
1556 #if ( INCLUDE_vTaskDelete == 1 )
\r
1558 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1560 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTimeDiv100 );
\r
1565 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1567 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1569 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTimeDiv100 );
\r
1577 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1578 /*----------------------------------------------------------*/
\r
1580 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1582 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1584 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1585 started, then xIdleTaskHandle will be NULL. */
\r
1586 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1587 return xIdleTaskHandle;
\r
1590 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1591 /*----------------------------------------------------------*/
\r
1593 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1594 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1595 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1597 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1599 void vTaskStepTick( portTickType xTicksToJump )
\r
1601 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1602 xTickCount += xTicksToJump;
\r
1605 #endif /* configUSE_TICKLESS_IDLE */
\r
1606 /*----------------------------------------------------------*/
\r
1608 portBASE_TYPE xTaskIncrementTick( void )
\r
1611 portTickType xItemValue;
\r
1612 portBASE_TYPE xSwitchRequired = pdFALSE;
\r
1614 /* Called by the portable layer each time a tick interrupt occurs.
\r
1615 Increments the tick then checks to see if the new tick value will cause any
\r
1616 tasks to be unblocked. */
\r
1617 traceTASK_INCREMENT_TICK( xTickCount );
\r
1618 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1620 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1621 delayed lists if it wraps to 0. */
\r
1623 if( xTickCount == ( portTickType ) 0U )
\r
1625 taskSWITCH_DELAYED_LISTS();
\r
1628 /* See if this tick has made a timeout expire. Tasks are stored in the
\r
1629 queue in the order of their wake time - meaning once one tasks has been
\r
1630 found whose block time has not expired there is no need not look any
\r
1631 further down the list. */
\r
1632 if( xTickCount >= xNextTaskUnblockTime )
\r
1636 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1638 /* The delayed list is empty. Set xNextTaskUnblockTime to
\r
1639 the maximum possible value so it is extremely unlikely that
\r
1640 the if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1641 next time through. */
\r
1642 xNextTaskUnblockTime = portMAX_DELAY;
\r
1647 /* The delayed list is not empty, get the value of the item
\r
1648 at the head of the delayed list. This is the time at which
\r
1649 the task at the head of the delayed list must be removed
\r
1650 from the Blocked state. */
\r
1651 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1652 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1654 if( xTickCount < xItemValue )
\r
1656 /* It is not time to unblock this item yet, but the item
\r
1657 value is the time at which the task at the head of the
\r
1658 blocked list must be removed from the Blocked state -
\r
1659 so record the item value in xNextTaskUnblockTime. */
\r
1660 xNextTaskUnblockTime = xItemValue;
\r
1664 /* It is time to remove the item from the Blocked state. */
\r
1665 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1667 /* Is the task waiting on an event also? If so remove it
\r
1668 from the event list. */
\r
1669 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
1671 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1674 /* Place the unblocked task into the appropriate ready
\r
1676 prvAddTaskToReadyQueue( pxTCB );
\r
1678 /* A task being unblocked cannot cause an immediate context
\r
1679 switch if preemption is turned off. */
\r
1680 #if ( configUSE_PREEMPTION == 1 )
\r
1682 /* Preemption is on, but a context switch should only
\r
1683 be performed if the unblocked task has a priority that
\r
1684 is equal to or higher than the currently executing
\r
1686 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1688 xSwitchRequired = pdTRUE;
\r
1691 #endif /* configUSE_PREEMPTION */
\r
1696 /* Tasks of equal priority to the currently running task will share
\r
1697 processing time (time slice) if preemption is on, and the application
\r
1698 writer has not explicitly turned time slicing off. */
\r
1699 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
1701 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > 1 )
\r
1703 xSwitchRequired = pdTRUE;
\r
1706 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
1712 /* The tick hook gets called at regular intervals, even if the
\r
1713 scheduler is locked. */
\r
1714 #if ( configUSE_TICK_HOOK == 1 )
\r
1716 vApplicationTickHook();
\r
1721 #if ( configUSE_TICK_HOOK == 1 )
\r
1723 /* Guard against the tick hook being called when the missed tick
\r
1724 count is being unwound (when the scheduler is being unlocked). */
\r
1725 if( uxPendedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1727 vApplicationTickHook();
\r
1730 #endif /* configUSE_TICK_HOOK */
\r
1732 return xSwitchRequired;
\r
1734 /*-----------------------------------------------------------*/
\r
1736 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1738 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1742 /* If xTask is NULL then we are setting our own task hook. */
\r
1743 if( xTask == NULL )
\r
1745 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1749 xTCB = ( tskTCB * ) xTask;
\r
1752 /* Save the hook function in the TCB. A critical section is required as
\r
1753 the value can be accessed from an interrupt. */
\r
1754 taskENTER_CRITICAL();
\r
1755 xTCB->pxTaskTag = pxHookFunction;
\r
1756 taskEXIT_CRITICAL();
\r
1759 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1760 /*-----------------------------------------------------------*/
\r
1762 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1764 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1767 pdTASK_HOOK_CODE xReturn;
\r
1769 /* If xTask is NULL then we are setting our own task hook. */
\r
1770 if( xTask == NULL )
\r
1772 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1776 xTCB = ( tskTCB * ) xTask;
\r
1779 /* Save the hook function in the TCB. A critical section is required as
\r
1780 the value can be accessed from an interrupt. */
\r
1781 taskENTER_CRITICAL();
\r
1782 xReturn = xTCB->pxTaskTag;
\r
1783 taskEXIT_CRITICAL();
\r
1788 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1789 /*-----------------------------------------------------------*/
\r
1791 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1793 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1796 portBASE_TYPE xReturn;
\r
1798 /* If xTask is NULL then we are calling our own task hook. */
\r
1799 if( xTask == NULL )
\r
1801 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1805 xTCB = ( tskTCB * ) xTask;
\r
1808 if( xTCB->pxTaskTag != NULL )
\r
1810 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1820 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1821 /*-----------------------------------------------------------*/
\r
1823 void vTaskSwitchContext( void )
\r
1825 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1827 /* The scheduler is currently suspended - do not allow a context
\r
1829 xYieldPending = pdTRUE;
\r
1833 traceTASK_SWITCHED_OUT();
\r
1835 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1837 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1838 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1840 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1843 /* Add the amount of time the task has been running to the
\r
1844 accumulated time so far. The time the task started running was
\r
1845 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
1846 protection here so count values are only valid until the timer
\r
1847 overflows. The guard against negative values is to protect
\r
1848 against suspect run time stat counter implementations - which
\r
1849 are provided by the application, not the kernel. */
\r
1850 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
1852 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
1854 ulTaskSwitchedInTime = ulTotalRunTime;
\r
1856 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1858 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1859 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1861 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
1863 traceTASK_SWITCHED_IN();
\r
1866 /*-----------------------------------------------------------*/
\r
1868 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1870 portTickType xTimeToWake;
\r
1872 configASSERT( pxEventList );
\r
1874 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1875 SCHEDULER SUSPENDED. */
\r
1877 /* Place the event list item of the TCB in the appropriate event list.
\r
1878 This is placed in the list in priority order so the highest priority task
\r
1879 is the first to be woken by the event. */
\r
1880 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1882 /* We must remove ourselves from the ready list before adding ourselves
\r
1883 to the blocked list as the same list item is used for both lists. We have
\r
1884 exclusive access to the ready lists as the scheduler is locked. */
\r
1885 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1887 /* The current task must be in a ready list, so there is no need to
\r
1888 check, and the port reset macro can be called directly. */
\r
1889 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1892 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1894 if( xTicksToWait == portMAX_DELAY )
\r
1896 /* Add ourselves to the suspended task list instead of a delayed task
\r
1897 list to ensure we are not woken by a timing event. We will block
\r
1899 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1903 /* Calculate the time at which the task should be woken if the event does
\r
1904 not occur. This may overflow but this doesn't matter. */
\r
1905 xTimeToWake = xTickCount + xTicksToWait;
\r
1906 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1909 #else /* INCLUDE_vTaskSuspend */
\r
1911 /* Calculate the time at which the task should be woken if the event does
\r
1912 not occur. This may overflow but this doesn't matter. */
\r
1913 xTimeToWake = xTickCount + xTicksToWait;
\r
1914 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1916 #endif /* INCLUDE_vTaskSuspend */
\r
1918 /*-----------------------------------------------------------*/
\r
1920 #if configUSE_TIMERS == 1
\r
1922 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1924 portTickType xTimeToWake;
\r
1926 configASSERT( pxEventList );
\r
1928 /* This function should not be called by application code hence the
\r
1929 'Restricted' in its name. It is not part of the public API. It is
\r
1930 designed for use by kernel code, and has special calling requirements -
\r
1931 it should be called from a critical section. */
\r
1934 /* Place the event list item of the TCB in the appropriate event list.
\r
1935 In this case it is assume that this is the only task that is going to
\r
1936 be waiting on this event list, so the faster vListInsertEnd() function
\r
1937 can be used in place of vListInsert. */
\r
1938 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1940 /* We must remove this task from the ready list before adding it to the
\r
1941 blocked list as the same list item is used for both lists. This
\r
1942 function is called form a critical section. */
\r
1943 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1945 /* The current task must be in a ready list, so there is no need to
\r
1946 check, and the port reset macro can be called directly. */
\r
1947 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1950 /* Calculate the time at which the task should be woken if the event does
\r
1951 not occur. This may overflow but this doesn't matter. */
\r
1952 xTimeToWake = xTickCount + xTicksToWait;
\r
1954 traceTASK_DELAY_UNTIL();
\r
1955 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1958 #endif /* configUSE_TIMERS */
\r
1959 /*-----------------------------------------------------------*/
\r
1961 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1963 tskTCB *pxUnblockedTCB;
\r
1964 portBASE_TYPE xReturn;
\r
1966 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1967 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1969 /* The event list is sorted in priority order, so we can remove the
\r
1970 first in the list, remove the TCB from the delayed list, and add
\r
1971 it to the ready list.
\r
1973 If an event is for a queue that is locked then this function will never
\r
1974 get called - the lock count on the queue will get modified instead. This
\r
1975 means we can always expect exclusive access to the event list here.
\r
1977 This function assumes that a check has already been made to ensure that
\r
1978 pxEventList is not empty. */
\r
1979 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1980 configASSERT( pxUnblockedTCB );
\r
1981 uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1983 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1985 uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1986 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1990 /* We cannot access the delayed or ready lists, so will hold this
\r
1991 task pending until the scheduler is resumed. */
\r
1992 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1995 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1997 /* Return true if the task removed from the event list has
\r
1998 a higher priority than the calling task. This allows
\r
1999 the calling task to know if it should force a context
\r
2005 xReturn = pdFALSE;
\r
2010 /*-----------------------------------------------------------*/
\r
2012 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
2014 configASSERT( pxTimeOut );
\r
2015 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2016 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2018 /*-----------------------------------------------------------*/
\r
2020 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
2022 portBASE_TYPE xReturn;
\r
2024 configASSERT( pxTimeOut );
\r
2025 configASSERT( pxTicksToWait );
\r
2027 taskENTER_CRITICAL();
\r
2029 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2030 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2031 the maximum block time then the task should block indefinitely, and
\r
2032 therefore never time out. */
\r
2033 if( *pxTicksToWait == portMAX_DELAY )
\r
2035 xReturn = pdFALSE;
\r
2037 else /* We are not blocking indefinitely, perform the checks below. */
\r
2040 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
2042 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2043 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2044 It must have wrapped all the way around and gone past us again. This
\r
2045 passed since vTaskSetTimeout() was called. */
\r
2048 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
2050 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2051 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
2052 vTaskSetTimeOutState( pxTimeOut );
\r
2053 xReturn = pdFALSE;
\r
2060 taskEXIT_CRITICAL();
\r
2064 /*-----------------------------------------------------------*/
\r
2066 void vTaskMissedYield( void )
\r
2068 xYieldPending = pdTRUE;
\r
2070 /*-----------------------------------------------------------*/
\r
2072 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2074 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
2076 unsigned portBASE_TYPE uxReturn;
\r
2079 if( xTask != NULL )
\r
2081 pxTCB = ( tskTCB * ) xTask;
\r
2082 uxReturn = pxTCB->uxTaskNumber;
\r
2092 #endif /* configUSE_TRACE_FACILITY */
\r
2093 /*-----------------------------------------------------------*/
\r
2095 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2097 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
2101 if( xTask != NULL )
\r
2103 pxTCB = ( tskTCB * ) xTask;
\r
2104 pxTCB->uxTaskNumber = uxHandle;
\r
2108 #endif /* configUSE_TRACE_FACILITY */
\r
2111 * -----------------------------------------------------------
\r
2113 * ----------------------------------------------------------
\r
2115 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2116 * language extensions. The equivalent prototype for this function is:
\r
2118 * void prvIdleTask( void *pvParameters );
\r
2121 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2123 /* Stop warnings. */
\r
2124 ( void ) pvParameters;
\r
2128 /* See if any tasks have been deleted. */
\r
2129 prvCheckTasksWaitingTermination();
\r
2131 #if ( configUSE_PREEMPTION == 0 )
\r
2133 /* If we are not using preemption we keep forcing a task switch to
\r
2134 see if any other task has become available. If we are using
\r
2135 preemption we don't need to do this as any task becoming available
\r
2136 will automatically get the processor anyway. */
\r
2139 #endif /* configUSE_PREEMPTION */
\r
2141 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2143 /* When using preemption tasks of equal priority will be
\r
2144 timesliced. If a task that is sharing the idle priority is ready
\r
2145 to run then the idle task should yield before the end of the
\r
2148 A critical region is not required here as we are just reading from
\r
2149 the list, and an occasional incorrect value will not matter. If
\r
2150 the ready list at the idle priority contains more than one task
\r
2151 then a task other than the idle task is ready to execute. */
\r
2152 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2157 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2159 #if ( configUSE_IDLE_HOOK == 1 )
\r
2161 extern void vApplicationIdleHook( void );
\r
2163 /* Call the user defined function from within the idle task. This
\r
2164 allows the application designer to add background functionality
\r
2165 without the overhead of a separate task.
\r
2166 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2167 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2168 vApplicationIdleHook();
\r
2170 #endif /* configUSE_IDLE_HOOK */
\r
2172 /* This conditional compilation should use inequality to 0, not equality
\r
2173 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2174 user defined low power mode implementations require
\r
2175 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2176 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2178 portTickType xExpectedIdleTime;
\r
2180 /* It is not desirable to suspend then resume the scheduler on
\r
2181 each iteration of the idle task. Therefore, a preliminary
\r
2182 test of the expected idle time is performed without the
\r
2183 scheduler suspended. The result here is not necessarily
\r
2185 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2187 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2189 vTaskSuspendAll();
\r
2191 /* Now the scheduler is suspended, the expected idle
\r
2192 time can be sampled again, and this time its value can
\r
2194 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2195 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2197 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2199 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2205 #endif /* configUSE_TICKLESS_IDLE */
\r
2207 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
2208 /*-----------------------------------------------------------*/
\r
2210 #if configUSE_TICKLESS_IDLE != 0
\r
2212 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2214 eSleepModeStatus eReturn = eStandardSleep;
\r
2216 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2218 /* A task was made ready while the scheduler was suspended. */
\r
2219 eReturn = eAbortSleep;
\r
2221 else if( xYieldPending != pdFALSE )
\r
2223 /* A yield was pended while the scheduler was suspended. */
\r
2224 eReturn = eAbortSleep;
\r
2228 #if configUSE_TIMERS == 0
\r
2230 /* The idle task exists in addition to the application tasks. */
\r
2231 const unsigned portBASE_TYPE uxNonApplicationTasks = 1;
\r
2233 /* If timers are not being used and all the tasks are in the
\r
2234 suspended list (which might mean they have an infinite block
\r
2235 time rather than actually being suspended) then it is safe to
\r
2236 turn all clocks off and just wait for external interrupts. */
\r
2237 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2239 eReturn = eNoTasksWaitingTimeout;
\r
2242 #endif /* configUSE_TIMERS */
\r
2247 #endif /* configUSE_TICKLESS_IDLE */
\r
2248 /*-----------------------------------------------------------*/
\r
2250 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2252 /* Store the function name in the TCB. */
\r
2253 #if configMAX_TASK_NAME_LEN > 1
\r
2255 /* Don't bring strncpy into the build unnecessarily. */
\r
2256 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
2258 #endif /* configMAX_TASK_NAME_LEN */
\r
2259 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
\r
2261 /* This is used as an array index so must ensure it's not too large. First
\r
2262 remove the privilege bit if one is present. */
\r
2263 if( uxPriority >= configMAX_PRIORITIES )
\r
2265 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2268 pxTCB->uxPriority = uxPriority;
\r
2269 #if ( configUSE_MUTEXES == 1 )
\r
2271 pxTCB->uxBasePriority = uxPriority;
\r
2273 #endif /* configUSE_MUTEXES */
\r
2275 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2276 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2278 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2279 back to the containing TCB from a generic item in a list. */
\r
2280 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2282 /* Event lists are always in priority order. */
\r
2283 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
2284 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2286 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2288 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2290 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2292 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2294 pxTCB->pxTaskTag = NULL;
\r
2296 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2298 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2300 pxTCB->ulRunTimeCounter = 0UL;
\r
2302 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2304 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2306 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2308 #else /* portUSING_MPU_WRAPPERS */
\r
2310 ( void ) xRegions;
\r
2311 ( void ) usStackDepth;
\r
2313 #endif /* portUSING_MPU_WRAPPERS */
\r
2315 /*-----------------------------------------------------------*/
\r
2317 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2319 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2323 if( xTaskToModify == pxCurrentTCB )
\r
2325 xTaskToModify = NULL;
\r
2328 /* If null is passed in here then we are deleting ourselves. */
\r
2329 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2331 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2334 #endif /* portUSING_MPU_WRAPPERS */
\r
2335 /*-----------------------------------------------------------*/
\r
2337 static void prvInitialiseTaskLists( void )
\r
2339 unsigned portBASE_TYPE uxPriority;
\r
2341 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2343 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2346 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2347 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2348 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2350 #if ( INCLUDE_vTaskDelete == 1 )
\r
2352 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2354 #endif /* INCLUDE_vTaskDelete */
\r
2356 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2358 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2360 #endif /* INCLUDE_vTaskSuspend */
\r
2362 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2364 pxDelayedTaskList = &xDelayedTaskList1;
\r
2365 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2367 /*-----------------------------------------------------------*/
\r
2369 static void prvCheckTasksWaitingTermination( void )
\r
2371 #if ( INCLUDE_vTaskDelete == 1 )
\r
2373 portBASE_TYPE xListIsEmpty;
\r
2375 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2376 too often in the idle task. */
\r
2377 while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2379 vTaskSuspendAll();
\r
2380 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2383 if( xListIsEmpty == pdFALSE )
\r
2387 taskENTER_CRITICAL();
\r
2389 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2390 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2391 --uxCurrentNumberOfTasks;
\r
2394 taskEXIT_CRITICAL();
\r
2396 prvDeleteTCB( pxTCB );
\r
2400 #endif /* vTaskDelete */
\r
2402 /*-----------------------------------------------------------*/
\r
2404 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2406 /* The list item will be inserted in wake time order. */
\r
2407 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2409 if( xTimeToWake < xTickCount )
\r
2411 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2412 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2416 /* The wake time has not overflowed, so we can use the current block list. */
\r
2417 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2419 /* If the task entering the blocked state was placed at the head of the
\r
2420 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2422 if( xTimeToWake < xNextTaskUnblockTime )
\r
2424 xNextTaskUnblockTime = xTimeToWake;
\r
2428 /*-----------------------------------------------------------*/
\r
2430 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2434 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2435 the implementation of the port malloc function. */
\r
2436 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2438 if( pxNewTCB != NULL )
\r
2440 /* Allocate space for the stack used by the task being created.
\r
2441 The base of the stack memory stored in the TCB so the task can
\r
2442 be deleted later if required. */
\r
2443 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2445 if( pxNewTCB->pxStack == NULL )
\r
2447 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2448 vPortFree( pxNewTCB );
\r
2453 /* Just to help debugging. */
\r
2454 memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2460 /*-----------------------------------------------------------*/
\r
2462 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2464 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2466 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2467 unsigned short usStackRemaining;
\r
2468 PRIVILEGED_DATA static char pcStatusString[ configMAX_TASK_NAME_LEN + 30 ];
\r
2470 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2471 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2474 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2475 #if ( portSTACK_GROWTH > 0 )
\r
2477 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2481 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2485 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
2486 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2488 } while( pxNextTCB != pxFirstTCB );
\r
2491 #endif /* configUSE_TRACE_FACILITY */
\r
2492 /*-----------------------------------------------------------*/
\r
2494 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2496 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTimeDiv100 )
\r
2498 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2499 unsigned long ulStatsAsPercentage;
\r
2500 size_t xExistingStringLength;
\r
2502 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2503 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2506 /* Get next TCB from the list. */
\r
2507 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2509 /* Divide by zero check. */
\r
2510 if( ulTotalRunTimeDiv100 > 0UL )
\r
2512 xExistingStringLength = strlen( ( char * ) pcWriteBuffer );
\r
2514 /* Has the task run at all? */
\r
2515 if( pxNextTCB->ulRunTimeCounter == 0UL )
\r
2517 /* The task has used no CPU time at all. */
\r
2518 sprintf( ( char * ) &( pcWriteBuffer[ xExistingStringLength ] ), ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2522 /* What percentage of the total run time has the task used?
\r
2523 This will always be rounded down to the nearest integer.
\r
2524 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
2525 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTimeDiv100;
\r
2527 if( ulStatsAsPercentage > 0UL )
\r
2529 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2531 sprintf( ( char * ) &( pcWriteBuffer[ xExistingStringLength ] ), ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2535 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2536 printf() library can be used. */
\r
2537 sprintf( ( char * ) &( pcWriteBuffer[ xExistingStringLength ] ), ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2543 /* If the percentage is zero here then the task has
\r
2544 consumed less than 1% of the total run time. */
\r
2545 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2547 sprintf( ( char * ) &( pcWriteBuffer[ xExistingStringLength ] ), ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2551 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2552 printf() library can be used. */
\r
2553 sprintf( ( char * ) &( pcWriteBuffer[ xExistingStringLength ] ), ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2560 } while( pxNextTCB != pxFirstTCB );
\r
2563 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2564 /*-----------------------------------------------------------*/
\r
2566 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2568 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2570 register unsigned short usCount = 0U;
\r
2572 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2574 pucStackByte -= portSTACK_GROWTH;
\r
2578 usCount /= sizeof( portSTACK_TYPE );
\r
2583 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
2584 /*-----------------------------------------------------------*/
\r
2586 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2588 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2591 unsigned char *pcEndOfStack;
\r
2592 unsigned portBASE_TYPE uxReturn;
\r
2594 pxTCB = prvGetTCBFromHandle( xTask );
\r
2596 #if portSTACK_GROWTH < 0
\r
2598 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2602 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2606 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2611 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
2612 /*-----------------------------------------------------------*/
\r
2614 #if ( INCLUDE_vTaskDelete == 1 )
\r
2616 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2618 /* This call is required specifically for the TriCore port. It must be
\r
2619 above the vPortFree() calls. The call is also used by ports/demos that
\r
2620 want to allocate and clean RAM statically. */
\r
2621 portCLEAN_UP_TCB( pxTCB );
\r
2623 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2624 the task to free any memory allocated at the application level. */
\r
2625 vPortFreeAligned( pxTCB->pxStack );
\r
2626 vPortFree( pxTCB );
\r
2629 #endif /* INCLUDE_vTaskDelete */
\r
2630 /*-----------------------------------------------------------*/
\r
2632 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2634 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2636 xTaskHandle xReturn;
\r
2638 /* A critical section is not required as this is not called from
\r
2639 an interrupt and the current TCB will always be the same for any
\r
2640 individual execution thread. */
\r
2641 xReturn = pxCurrentTCB;
\r
2646 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
2647 /*-----------------------------------------------------------*/
\r
2649 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2651 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2653 portBASE_TYPE xReturn;
\r
2655 if( xSchedulerRunning == pdFALSE )
\r
2657 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2661 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2663 xReturn = taskSCHEDULER_RUNNING;
\r
2667 xReturn = taskSCHEDULER_SUSPENDED;
\r
2674 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
2675 /*-----------------------------------------------------------*/
\r
2677 #if ( configUSE_MUTEXES == 1 )
\r
2679 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2681 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2683 /* If the mutex was given back by an interrupt while the queue was
\r
2684 locked then the mutex holder might now be NULL. */
\r
2685 if( pxMutexHolder != NULL )
\r
2687 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2689 /* Adjust the mutex holder state to account for its new priority. */
\r
2690 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2692 /* If the task being modified is in the ready state it will need to
\r
2693 be moved into a new list. */
\r
2694 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2696 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2698 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2701 /* Inherit the priority before being moved into the new list. */
\r
2702 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2703 prvAddTaskToReadyQueue( pxTCB );
\r
2707 /* Just inherit the priority. */
\r
2708 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2711 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2716 #endif /* configUSE_MUTEXES */
\r
2717 /*-----------------------------------------------------------*/
\r
2719 #if ( configUSE_MUTEXES == 1 )
\r
2721 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2723 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2725 if( pxMutexHolder != NULL )
\r
2727 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2729 /* We must be the running task to be able to give the mutex back.
\r
2730 Remove ourselves from the ready list we currently appear in. */
\r
2731 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2733 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2736 /* Disinherit the priority before adding the task into the new
\r
2738 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2739 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2740 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2741 prvAddTaskToReadyQueue( pxTCB );
\r
2746 #endif /* configUSE_MUTEXES */
\r
2747 /*-----------------------------------------------------------*/
\r
2749 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2751 void vTaskEnterCritical( void )
\r
2753 portDISABLE_INTERRUPTS();
\r
2755 if( xSchedulerRunning != pdFALSE )
\r
2757 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2761 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2762 /*-----------------------------------------------------------*/
\r
2764 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2766 void vTaskExitCritical( void )
\r
2768 if( xSchedulerRunning != pdFALSE )
\r
2770 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2772 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2774 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2776 portENABLE_INTERRUPTS();
\r
2782 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2783 /*-----------------------------------------------------------*/
\r
projects / freertos / blob