2 FreeRTOS V7.5.3 - Copyright (C) 2013 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to distribute
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28 >>! a combined work that includes FreeRTOS without being obliged to provide
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29 >>! the source code for proprietary components outside of the FreeRTOS
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 /* Standard includes. */
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70 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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71 all the API functions to use the MPU wrappers. That should only be done when
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72 task.h is included from an application file. */
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73 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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75 /* FreeRTOS includes. */
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76 #include "FreeRTOS.h"
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79 #include "StackMacros.h"
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81 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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82 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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83 header files above, but not in this file, in order to generate the correct
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84 privileged Vs unprivileged linkage and placement. */
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85 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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87 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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88 /* At the bottom of this file are two optional functions that can be used
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89 to generate human readable text from the raw data generated by the
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90 uxTaskGetSystemState() function. Note the formatting functions are provided
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91 for convenience only, and are NOT considered part of the kernel. */
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93 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
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95 /* Sanity check the configuration. */
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96 #if configUSE_TICKLESS_IDLE != 0
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97 #if INCLUDE_vTaskSuspend != 1
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98 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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99 #endif /* INCLUDE_vTaskSuspend */
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100 #endif /* configUSE_TICKLESS_IDLE */
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103 * Defines the size, in words, of the stack allocated to the idle task.
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105 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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108 * Task control block. A task control block (TCB) is allocated for each task,
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109 * and stores task state information, including a pointer to the task's context
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110 * (the task's run time environment, including register values)
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112 typedef struct tskTaskControlBlock
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114 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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116 #if ( portUSING_MPU_WRAPPERS == 1 )
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117 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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120 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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121 xListItem xEventListItem; /*< Used to reference a task from an event list. */
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122 unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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123 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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124 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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126 #if ( portSTACK_GROWTH > 0 )
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127 portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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130 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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131 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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134 #if ( configUSE_TRACE_FACILITY == 1 )
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135 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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136 unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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139 #if ( configUSE_MUTEXES == 1 )
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140 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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143 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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144 pdTASK_HOOK_CODE pxTaskTag;
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147 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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148 unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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151 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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152 /* Allocate a Newlib reent structure that is specific to this task.
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153 Note Newlib support has been included by popular demand, but is not
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154 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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155 responsible for resulting newlib operation. User must be familiar with
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156 newlib and must provide system-wide implementations of the necessary
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157 stubs. Be warned that (at the time of writing) the current newlib design
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158 implements a system-wide malloc() that must be provided with locks. */
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159 struct _reent xNewLib_reent;
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166 * Some kernel aware debuggers require the data the debugger needs access to to
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167 * be global, rather than file scope.
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169 #ifdef portREMOVE_STATIC_QUALIFIER
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173 /*lint -e956 A manual analysis and inspection has been used to determine which
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174 static variables must be declared volatile. */
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176 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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178 /* Lists for ready and blocked tasks. --------------------*/
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179 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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180 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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181 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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182 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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183 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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184 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
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186 #if ( INCLUDE_vTaskDelete == 1 )
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188 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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189 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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193 #if ( INCLUDE_vTaskSuspend == 1 )
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195 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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199 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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201 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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205 /* Other file private variables. --------------------------------*/
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206 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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207 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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208 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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209 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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210 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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211 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxPendedTicks = ( unsigned portBASE_TYPE ) 0U;
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212 PRIVILEGED_DATA static volatile portBASE_TYPE xYieldPending = pdFALSE;
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213 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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214 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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215 PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = portMAX_DELAY;
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217 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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219 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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220 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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226 /* Debugging and trace facilities private variables and macros. ------------*/
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229 * The value used to fill the stack of a task when the task is created. This
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230 * is used purely for checking the high water mark for tasks.
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232 #define tskSTACK_FILL_BYTE ( 0xa5U )
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235 * Macros used by vListTask to indicate which state a task is in.
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237 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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238 #define tskREADY_CHAR ( ( signed char ) 'R' )
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239 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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240 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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242 /*-----------------------------------------------------------*/
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244 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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246 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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247 performed in a generic way that is not optimised to any particular
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248 microcontroller architecture. */
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250 /* uxTopReadyPriority holds the priority of the highest priority ready
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252 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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254 if( ( uxPriority ) > uxTopReadyPriority ) \
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256 uxTopReadyPriority = ( uxPriority ); \
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258 } /* taskRECORD_READY_PRIORITY */
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260 /*-----------------------------------------------------------*/
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262 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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264 /* Find the highest priority queue that contains ready tasks. */ \
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265 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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267 configASSERT( uxTopReadyPriority ); \
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268 --uxTopReadyPriority; \
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271 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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272 the same priority get an equal share of the processor time. */ \
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273 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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274 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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276 /*-----------------------------------------------------------*/
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278 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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279 they are only required when a port optimised method of task selection is
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281 #define taskRESET_READY_PRIORITY( uxPriority )
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282 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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284 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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286 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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287 performed in a way that is tailored to the particular microcontroller
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288 architecture being used. */
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290 /* A port optimised version is provided. Call the port defined macros. */
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291 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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293 /*-----------------------------------------------------------*/
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295 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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297 unsigned portBASE_TYPE uxTopPriority; \
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299 /* Find the highest priority queue that contains ready tasks. */ \
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300 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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301 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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302 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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303 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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305 /*-----------------------------------------------------------*/
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307 /* A port optimised version is provided, call it only if the TCB being reset
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308 is being referenced from a ready list. If it is referenced from a delayed
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309 or suspended list then it won't be in a ready list. */
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310 #define taskRESET_READY_PRIORITY( uxPriority ) \
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312 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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314 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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318 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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320 /*-----------------------------------------------------------*/
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322 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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323 count overflows. */
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324 #define taskSWITCH_DELAYED_LISTS() \
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328 /* The delayed tasks list should be empty when the lists are switched. */ \
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329 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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331 pxTemp = pxDelayedTaskList; \
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332 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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333 pxOverflowDelayedTaskList = pxTemp; \
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334 xNumOfOverflows++; \
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336 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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338 /* The new current delayed list is empty. Set \
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339 xNextTaskUnblockTime to the maximum possible value so it is \
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340 extremely unlikely that the \
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341 if( xTickCount >= xNextTaskUnblockTime ) test will pass until \
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342 there is an item in the delayed list. */ \
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343 xNextTaskUnblockTime = portMAX_DELAY; \
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347 /* The new current delayed list is not empty, get the value of \
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348 the item at the head of the delayed list. This is the time at \
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349 which the task at the head of the delayed list should be removed \
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350 from the Blocked state. */ \
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351 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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352 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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356 /*-----------------------------------------------------------*/
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359 * Place the task represented by pxTCB into the appropriate ready list for
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360 * the task. It is inserted at the end of the list.
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362 #define prvAddTaskToReadyList( pxTCB ) \
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363 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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364 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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365 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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366 /*-----------------------------------------------------------*/
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369 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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370 * where NULL is used to indicate that the handle of the currently executing
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371 * task should be used in place of the parameter. This macro simply checks to
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372 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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374 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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376 /* Callback function prototypes. --------------------------*/
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377 extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
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378 extern void vApplicationTickHook( void );
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380 /* File private functions. --------------------------------*/
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383 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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384 * into the TCB structure.
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386 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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389 * Utility to ready all the lists used by the scheduler. This is called
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390 * automatically upon the creation of the first task.
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392 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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395 * The idle task, which as all tasks is implemented as a never ending loop.
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396 * The idle task is automatically created and added to the ready lists upon
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397 * creation of the first user task.
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399 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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400 * language extensions. The equivalent prototype for this function is:
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402 * void prvIdleTask( void *pvParameters );
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405 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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408 * Utility to free all memory allocated by the scheduler to hold a TCB,
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409 * including the stack pointed to by the TCB.
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411 * This does not free memory allocated by the task itself (i.e. memory
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412 * allocated by calls to pvPortMalloc from within the tasks application code).
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414 #if ( INCLUDE_vTaskDelete == 1 )
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416 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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421 * Used only by the idle task. This checks to see if anything has been placed
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422 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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423 * and its TCB deleted.
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425 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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428 * The currently executing task is entering the Blocked state. Add the task to
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429 * either the current or the overflow delayed task list.
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431 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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434 * Allocates memory from the heap for a TCB and associated stack. Checks the
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435 * allocation was successful.
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437 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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440 * Fills an xTaskStatusType structure with information on each task that is
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441 * referenced from the pxList list (which may be a ready list, a delayed list,
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442 * a suspended list, etc.).
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444 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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445 * NORMAL APPLICATION CODE.
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447 #if ( configUSE_TRACE_FACILITY == 1 )
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449 static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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454 * When a task is created, the stack of the task is filled with a known value.
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455 * This function determines the 'high water mark' of the task stack by
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456 * determining how much of the stack remains at the original preset value.
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458 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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460 static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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465 * Return the amount of time, in ticks, that will pass before the kernel will
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466 * next move a task from the Blocked state to the Running state.
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468 * This conditional compilation should use inequality to 0, not equality to 1.
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469 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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470 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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471 * set to a value other than 1.
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473 #if ( configUSE_TICKLESS_IDLE != 0 )
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475 static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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479 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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481 signed portBASE_TYPE xReturn;
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484 configASSERT( pxTaskCode );
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485 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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487 /* Allocate the memory required by the TCB and stack for the new task,
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488 checking that the allocation was successful. */
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489 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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491 if( pxNewTCB != NULL )
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493 portSTACK_TYPE *pxTopOfStack;
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495 #if( portUSING_MPU_WRAPPERS == 1 )
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496 /* Should the task be created in privileged mode? */
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497 portBASE_TYPE xRunPrivileged;
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498 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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500 xRunPrivileged = pdTRUE;
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504 xRunPrivileged = pdFALSE;
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506 uxPriority &= ~portPRIVILEGE_BIT;
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507 #endif /* portUSING_MPU_WRAPPERS == 1 */
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509 /* Calculate the top of stack address. This depends on whether the
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510 stack grows from high memory to low (as per the 80x86) or visa versa.
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511 portSTACK_GROWTH is used to make the result positive or negative as
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512 required by the port. */
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513 #if( portSTACK_GROWTH < 0 )
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515 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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516 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) ); /*lint !e923 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. */
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518 /* Check the alignment of the calculated top of stack is correct. */
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519 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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521 #else /* portSTACK_GROWTH */
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523 pxTopOfStack = pxNewTCB->pxStack;
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525 /* Check the alignment of the stack buffer is correct. */
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526 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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528 /* If we want to use stack checking on architectures that use
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529 a positive stack growth direction then we also need to store the
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530 other extreme of the stack space. */
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531 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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533 #endif /* portSTACK_GROWTH */
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535 /* Setup the newly allocated TCB with the initial state of the task. */
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536 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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538 /* Initialize the TCB stack to look as if the task was already running,
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539 but had been interrupted by the scheduler. The return address is set
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540 to the start of the task function. Once the stack has been initialised
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541 the top of stack variable is updated. */
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542 #if( portUSING_MPU_WRAPPERS == 1 )
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544 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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546 #else /* portUSING_MPU_WRAPPERS */
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548 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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550 #endif /* portUSING_MPU_WRAPPERS */
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552 if( ( void * ) pxCreatedTask != NULL )
\r
554 /* Pass the TCB out - in an anonymous way. The calling function/
\r
555 task can use this as a handle to delete the task later if
\r
557 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
\r
560 /* Ensure interrupts don't access the task lists while they are being
\r
562 taskENTER_CRITICAL();
\r
564 uxCurrentNumberOfTasks++;
\r
565 if( pxCurrentTCB == NULL )
\r
567 /* There are no other tasks, or all the other tasks are in
\r
568 the suspended state - make this the current task. */
\r
569 pxCurrentTCB = pxNewTCB;
\r
571 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
573 /* This is the first task to be created so do the preliminary
\r
574 initialisation required. We will not recover if this call
\r
575 fails, but we will report the failure. */
\r
576 prvInitialiseTaskLists();
\r
581 /* If the scheduler is not already running, make this task the
\r
582 current task if it is the highest priority task to be created
\r
584 if( xSchedulerRunning == pdFALSE )
\r
586 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
588 pxCurrentTCB = pxNewTCB;
\r
595 #if ( configUSE_TRACE_FACILITY == 1 )
\r
597 /* Add a counter into the TCB for tracing only. */
\r
598 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
600 #endif /* configUSE_TRACE_FACILITY */
\r
601 traceTASK_CREATE( pxNewTCB );
\r
603 prvAddTaskToReadyList( pxNewTCB );
\r
606 portSETUP_TCB( pxNewTCB );
\r
608 taskEXIT_CRITICAL();
\r
612 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
613 traceTASK_CREATE_FAILED();
\r
616 if( xReturn == pdPASS )
\r
618 if( xSchedulerRunning != pdFALSE )
\r
620 /* If the created task is of a higher priority than the current task
\r
621 then it should run now. */
\r
622 if( pxCurrentTCB->uxPriority < uxPriority )
\r
624 portYIELD_WITHIN_API();
\r
631 /*-----------------------------------------------------------*/
\r
633 #if ( INCLUDE_vTaskDelete == 1 )
\r
635 void vTaskDelete( xTaskHandle xTaskToDelete )
\r
639 taskENTER_CRITICAL();
\r
641 /* If null is passed in here then we are deleting ourselves. */
\r
642 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
644 /* Remove task from the ready list and place in the termination list.
\r
645 This will stop the task from be scheduled. The idle task will check
\r
646 the termination list and free up any memory allocated by the
\r
647 scheduler for the TCB and stack. */
\r
648 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
650 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
653 /* Is the task waiting on an event also? */
\r
654 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
656 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
659 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
661 /* Increment the ucTasksDeleted variable so the idle task knows
\r
662 there is a task that has been deleted and that it should therefore
\r
663 check the xTasksWaitingTermination list. */
\r
666 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
667 can detect that the task lists need re-generating. */
\r
670 traceTASK_DELETE( pxTCB );
\r
672 taskEXIT_CRITICAL();
\r
674 /* Force a reschedule if we have just deleted the current task. */
\r
675 if( xSchedulerRunning != pdFALSE )
\r
677 if( pxTCB == pxCurrentTCB )
\r
679 portYIELD_WITHIN_API();
\r
684 #endif /* INCLUDE_vTaskDelete */
\r
685 /*-----------------------------------------------------------*/
\r
687 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
689 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
691 portTickType xTimeToWake;
\r
692 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
694 configASSERT( pxPreviousWakeTime );
\r
695 configASSERT( ( xTimeIncrement > 0U ) );
\r
699 /* Minor optimisation. The tick count cannot change in this
\r
701 const portTickType xConstTickCount = xTickCount;
\r
703 /* Generate the tick time at which the task wants to wake. */
\r
704 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
706 if( xConstTickCount < *pxPreviousWakeTime )
\r
708 /* The tick count has overflowed since this function was
\r
709 lasted called. In this case the only time we should ever
\r
710 actually delay is if the wake time has also overflowed,
\r
711 and the wake time is greater than the tick time. When this
\r
712 is the case it is as if neither time had overflowed. */
\r
713 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
715 xShouldDelay = pdTRUE;
\r
720 /* The tick time has not overflowed. In this case we will
\r
721 delay if either the wake time has overflowed, and/or the
\r
722 tick time is less than the wake time. */
\r
723 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
725 xShouldDelay = pdTRUE;
\r
729 /* Update the wake time ready for the next call. */
\r
730 *pxPreviousWakeTime = xTimeToWake;
\r
732 if( xShouldDelay != pdFALSE )
\r
734 traceTASK_DELAY_UNTIL();
\r
736 /* We must remove ourselves from the ready list before adding
\r
737 ourselves to the blocked list as the same list item is used for
\r
739 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
741 /* The current task must be in a ready list, so there is
\r
742 no need to check, and the port reset macro can be called
\r
744 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
747 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
750 xAlreadyYielded = xTaskResumeAll();
\r
752 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
753 have put ourselves to sleep. */
\r
754 if( xAlreadyYielded == pdFALSE )
\r
756 portYIELD_WITHIN_API();
\r
760 #endif /* INCLUDE_vTaskDelayUntil */
\r
761 /*-----------------------------------------------------------*/
\r
763 #if ( INCLUDE_vTaskDelay == 1 )
\r
765 void vTaskDelay( portTickType xTicksToDelay )
\r
767 portTickType xTimeToWake;
\r
768 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
770 /* A delay time of zero just forces a reschedule. */
\r
771 if( xTicksToDelay > ( portTickType ) 0U )
\r
777 /* A task that is removed from the event list while the
\r
778 scheduler is suspended will not get placed in the ready
\r
779 list or removed from the blocked list until the scheduler
\r
782 This task cannot be in an event list as it is the currently
\r
785 /* Calculate the time to wake - this may overflow but this is
\r
787 xTimeToWake = xTickCount + xTicksToDelay;
\r
789 /* We must remove ourselves from the ready list before adding
\r
790 ourselves to the blocked list as the same list item is used for
\r
792 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
794 /* The current task must be in a ready list, so there is
\r
795 no need to check, and the port reset macro can be called
\r
797 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
799 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
801 xAlreadyYielded = xTaskResumeAll();
\r
804 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
805 have put ourselves to sleep. */
\r
806 if( xAlreadyYielded == pdFALSE )
\r
808 portYIELD_WITHIN_API();
\r
812 #endif /* INCLUDE_vTaskDelay */
\r
813 /*-----------------------------------------------------------*/
\r
815 #if ( INCLUDE_eTaskGetState == 1 )
\r
817 eTaskState eTaskGetState( xTaskHandle xTask )
\r
819 eTaskState eReturn;
\r
820 xList *pxStateList;
\r
821 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
823 if( pxTCB == pxCurrentTCB )
\r
825 /* The task calling this function is querying its own state. */
\r
826 eReturn = eRunning;
\r
830 taskENTER_CRITICAL();
\r
832 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
834 taskEXIT_CRITICAL();
\r
836 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
838 /* The task being queried is referenced from one of the Blocked
\r
840 eReturn = eBlocked;
\r
843 #if ( INCLUDE_vTaskSuspend == 1 )
\r
844 else if( pxStateList == &xSuspendedTaskList )
\r
846 /* The task being queried is referenced from the suspended
\r
847 list. Is it genuinely suspended or is it block
\r
849 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
\r
851 eReturn = eSuspended;
\r
855 eReturn = eBlocked;
\r
860 #if ( INCLUDE_vTaskDelete == 1 )
\r
861 else if( pxStateList == &xTasksWaitingTermination )
\r
863 /* The task being queried is referenced from the deleted
\r
865 eReturn = eDeleted;
\r
871 /* If the task is not in any other state, it must be in the
\r
872 Ready (including pending ready) state. */
\r
880 #endif /* INCLUDE_eTaskGetState */
\r
881 /*-----------------------------------------------------------*/
\r
883 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
885 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
\r
888 unsigned portBASE_TYPE uxReturn;
\r
890 taskENTER_CRITICAL();
\r
892 /* If null is passed in here then we are changing the
\r
893 priority of the calling function. */
\r
894 pxTCB = prvGetTCBFromHandle( xTask );
\r
895 uxReturn = pxTCB->uxPriority;
\r
897 taskEXIT_CRITICAL();
\r
902 #endif /* INCLUDE_uxTaskPriorityGet */
\r
903 /*-----------------------------------------------------------*/
\r
905 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
907 void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
\r
910 unsigned portBASE_TYPE uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
911 portBASE_TYPE xYieldRequired = pdFALSE;
\r
913 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
915 /* Ensure the new priority is valid. */
\r
916 if( uxNewPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
\r
918 uxNewPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
921 taskENTER_CRITICAL();
\r
923 /* If null is passed in here then it is the priority of the calling
\r
924 task that is being changed. */
\r
925 pxTCB = prvGetTCBFromHandle( xTask );
\r
927 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
929 #if ( configUSE_MUTEXES == 1 )
\r
931 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
935 uxCurrentBasePriority = pxTCB->uxPriority;
\r
939 if( uxCurrentBasePriority != uxNewPriority )
\r
941 /* The priority change may have readied a task of higher
\r
942 priority than the calling task. */
\r
943 if( uxNewPriority > uxCurrentBasePriority )
\r
945 if( pxTCB != pxCurrentTCB )
\r
947 /* The priority of a task other than the currently
\r
948 running task is being raised. Is the priority being
\r
949 raised above that of the running task? */
\r
950 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
952 xYieldRequired = pdTRUE;
\r
957 /* The priority of the running task is being raised,
\r
958 but the running task must already be the highest
\r
959 priority task able to run so no yield is required. */
\r
962 else if( pxTCB == pxCurrentTCB )
\r
964 /* Setting the priority of the running task down means
\r
965 there may now be another task of higher priority that
\r
966 is ready to execute. */
\r
967 xYieldRequired = pdTRUE;
\r
971 /* Setting the priority of any other task down does not
\r
972 require a yield as the running task must be above the
\r
973 new priority of the task being modified. */
\r
976 /* Remember the ready list the task might be referenced from
\r
977 before its uxPriority member is changed so the
\r
978 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
979 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
981 #if ( configUSE_MUTEXES == 1 )
\r
983 /* Only change the priority being used if the task is not
\r
984 currently using an inherited priority. */
\r
985 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
987 pxTCB->uxPriority = uxNewPriority;
\r
990 /* The base priority gets set whatever. */
\r
991 pxTCB->uxBasePriority = uxNewPriority;
\r
995 pxTCB->uxPriority = uxNewPriority;
\r
999 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1001 /* If the task is in the blocked or suspended list we need do
\r
1002 nothing more than change it's priority variable. However, if
\r
1003 the task is in a ready list it needs to be removed and placed
\r
1004 in the list appropriate to its new priority. */
\r
1005 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1007 /* The task is currently in its ready list - remove before adding
\r
1008 it to it's new ready list. As we are in a critical section we
\r
1009 can do this even if the scheduler is suspended. */
\r
1010 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1012 /* It is known that the task is in its ready list so
\r
1013 there is no need to check again and the port level
\r
1014 reset macro can be called directly. */
\r
1015 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1017 prvAddTaskToReadyList( pxTCB );
\r
1020 if( xYieldRequired == pdTRUE )
\r
1022 portYIELD_WITHIN_API();
\r
1025 /* Remove compiler warning about unused variables when the port
\r
1026 optimised task selection is not being used. */
\r
1027 ( void ) uxPriorityUsedOnEntry;
\r
1030 taskEXIT_CRITICAL();
\r
1033 #endif /* INCLUDE_vTaskPrioritySet */
\r
1034 /*-----------------------------------------------------------*/
\r
1036 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1038 void vTaskSuspend( xTaskHandle xTaskToSuspend )
\r
1042 taskENTER_CRITICAL();
\r
1044 /* If null is passed in here then it is the running task that is
\r
1045 being suspended. */
\r
1046 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1048 traceTASK_SUSPEND( pxTCB );
\r
1050 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
1051 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1053 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1056 /* Is the task waiting on an event also? */
\r
1057 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1059 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1062 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1064 taskEXIT_CRITICAL();
\r
1066 if( pxTCB == pxCurrentTCB )
\r
1068 if( xSchedulerRunning != pdFALSE )
\r
1070 /* The current task has just been suspended. */
\r
1071 portYIELD_WITHIN_API();
\r
1075 /* The scheduler is not running, but the task that was pointed
\r
1076 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1077 must be adjusted to point to a different task. */
\r
1078 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1080 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1081 NULL so when the next task is created pxCurrentTCB will
\r
1082 be set to point to it no matter what its relative priority
\r
1084 pxCurrentTCB = NULL;
\r
1088 vTaskSwitchContext();
\r
1094 #endif /* INCLUDE_vTaskSuspend */
\r
1095 /*-----------------------------------------------------------*/
\r
1097 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1099 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
1101 portBASE_TYPE xReturn = pdFALSE;
\r
1102 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1104 /* It does not make sense to check if the calling task is suspended. */
\r
1105 configASSERT( xTask );
\r
1107 /* Is the task we are attempting to resume actually in the
\r
1108 suspended list? */
\r
1109 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1111 /* Has the task already been resumed from within an ISR? */
\r
1112 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1114 /* Is it in the suspended list because it is in the
\r
1115 Suspended state? It is possible to be in the suspended
\r
1116 list because it is blocked on a task with no timeout
\r
1118 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1126 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1128 #endif /* INCLUDE_vTaskSuspend */
\r
1129 /*-----------------------------------------------------------*/
\r
1131 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1133 void vTaskResume( xTaskHandle xTaskToResume )
\r
1135 tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
\r
1137 /* It does not make sense to resume the calling task. */
\r
1138 configASSERT( xTaskToResume );
\r
1140 /* The parameter cannot be NULL as it is impossible to resume the
\r
1141 currently executing task. */
\r
1142 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1144 taskENTER_CRITICAL();
\r
1146 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1148 traceTASK_RESUME( pxTCB );
\r
1150 /* As we are in a critical section we can access the ready
\r
1151 lists even if the scheduler is suspended. */
\r
1152 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1153 prvAddTaskToReadyList( pxTCB );
\r
1155 /* We may have just resumed a higher priority task. */
\r
1156 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1158 /* This yield may not cause the task just resumed to run, but
\r
1159 will leave the lists in the correct state for the next yield. */
\r
1160 portYIELD_WITHIN_API();
\r
1164 taskEXIT_CRITICAL();
\r
1168 #endif /* INCLUDE_vTaskSuspend */
\r
1170 /*-----------------------------------------------------------*/
\r
1172 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1174 portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
\r
1176 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1177 tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
\r
1178 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1180 configASSERT( xTaskToResume );
\r
1182 /* RTOS ports that support interrupt nesting have the concept of a
\r
1183 maximum system call (or maximum API call) interrupt priority.
\r
1184 Interrupts that are above the maximum system call priority are keep
\r
1185 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1186 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1187 is defined in FreeRTOSConfig.h then
\r
1188 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1189 failure if a FreeRTOS API function is called from an interrupt that has
\r
1190 been assigned a priority above the configured maximum system call
\r
1191 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1192 from interrupts that have been assigned a priority at or (logically)
\r
1193 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1194 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1195 simple as possible. More information (albeit Cortex-M specific) is
\r
1196 provided on the following link:
\r
1197 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1198 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1200 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1202 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1204 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1206 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1208 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1210 xYieldRequired = pdTRUE;
\r
1213 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1214 prvAddTaskToReadyList( pxTCB );
\r
1218 /* We cannot access the delayed or ready lists, so will hold this
\r
1219 task pending until the scheduler is resumed, at which point a
\r
1220 yield will be performed if necessary. */
\r
1221 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1225 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1227 return xYieldRequired;
\r
1230 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1231 /*-----------------------------------------------------------*/
\r
1233 void vTaskStartScheduler( void )
\r
1235 portBASE_TYPE xReturn;
\r
1237 /* Add the idle task at the lowest priority. */
\r
1238 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1240 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1241 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1242 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1246 /* Create the idle task without storing its handle. */
\r
1247 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
\r
1249 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1251 #if ( configUSE_TIMERS == 1 )
\r
1253 if( xReturn == pdPASS )
\r
1255 xReturn = xTimerCreateTimerTask();
\r
1258 #endif /* configUSE_TIMERS */
\r
1260 if( xReturn == pdPASS )
\r
1262 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1263 before or during the call to xPortStartScheduler(). The stacks of
\r
1264 the created tasks contain a status word with interrupts switched on
\r
1265 so interrupts will automatically get re-enabled when the first task
\r
1267 portDISABLE_INTERRUPTS();
\r
1269 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1271 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1272 structure specific to the task that will run first. */
\r
1273 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1275 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1277 xSchedulerRunning = pdTRUE;
\r
1278 xTickCount = ( portTickType ) 0U;
\r
1280 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1281 macro must be defined to configure the timer/counter used to generate
\r
1282 the run time counter time base. */
\r
1283 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1285 /* Setting up the timer tick is hardware specific and thus in the
\r
1286 portable interface. */
\r
1287 if( xPortStartScheduler() != pdFALSE )
\r
1289 /* Should not reach here as if the scheduler is running the
\r
1290 function will not return. */
\r
1294 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1299 /* This line will only be reached if the kernel could not be started,
\r
1300 because there was not enough FreeRTOS heap to create the idle task
\r
1301 or the timer task. */
\r
1302 configASSERT( xReturn );
\r
1305 /*-----------------------------------------------------------*/
\r
1307 void vTaskEndScheduler( void )
\r
1309 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1310 routine so the original ISRs can be restored if necessary. The port
\r
1311 layer must ensure interrupts enable bit is left in the correct state. */
\r
1312 portDISABLE_INTERRUPTS();
\r
1313 xSchedulerRunning = pdFALSE;
\r
1314 vPortEndScheduler();
\r
1316 /*----------------------------------------------------------*/
\r
1318 void vTaskSuspendAll( void )
\r
1320 /* A critical section is not required as the variable is of type
\r
1322 ++uxSchedulerSuspended;
\r
1324 /*----------------------------------------------------------*/
\r
1326 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1328 static portTickType prvGetExpectedIdleTime( void )
\r
1330 portTickType xReturn;
\r
1332 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1336 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1338 /* There are other idle priority tasks in the ready state. If
\r
1339 time slicing is used then the very next tick interrupt must be
\r
1345 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1351 #endif /* configUSE_TICKLESS_IDLE */
\r
1352 /*----------------------------------------------------------*/
\r
1354 signed portBASE_TYPE xTaskResumeAll( void )
\r
1357 portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1359 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1360 previous call to vTaskSuspendAll(). */
\r
1361 configASSERT( uxSchedulerSuspended );
\r
1363 /* It is possible that an ISR caused a task to be removed from an event
\r
1364 list while the scheduler was suspended. If this was the case then the
\r
1365 removed task will have been added to the xPendingReadyList. Once the
\r
1366 scheduler has been resumed it is safe to move all the pending ready
\r
1367 tasks from this list into their appropriate ready list. */
\r
1368 taskENTER_CRITICAL();
\r
1370 --uxSchedulerSuspended;
\r
1372 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1374 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1376 /* Move any readied tasks from the pending list into the
\r
1377 appropriate ready list. */
\r
1378 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1380 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1381 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1382 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1383 prvAddTaskToReadyList( pxTCB );
\r
1385 /* If we have moved a task that has a priority higher than
\r
1386 the current task then we should yield. */
\r
1387 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1389 xYieldPending = pdTRUE;
\r
1393 /* If any ticks occurred while the scheduler was suspended then
\r
1394 they should be processed now. This ensures the tick count does not
\r
1395 slip, and that any delayed tasks are resumed at the correct time. */
\r
1396 if( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1398 while( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1400 if( xTaskIncrementTick() != pdFALSE )
\r
1402 xYieldPending = pdTRUE;
\r
1408 if( xYieldPending == pdTRUE )
\r
1410 xAlreadyYielded = pdTRUE;
\r
1411 portYIELD_WITHIN_API();
\r
1416 taskEXIT_CRITICAL();
\r
1418 return xAlreadyYielded;
\r
1420 /*-----------------------------------------------------------*/
\r
1422 portTickType xTaskGetTickCount( void )
\r
1424 portTickType xTicks;
\r
1426 /* Critical section required if running on a 16 bit processor. */
\r
1427 taskENTER_CRITICAL();
\r
1429 xTicks = xTickCount;
\r
1431 taskEXIT_CRITICAL();
\r
1435 /*-----------------------------------------------------------*/
\r
1437 portTickType xTaskGetTickCountFromISR( void )
\r
1439 portTickType xReturn;
\r
1440 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1442 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1443 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1444 above the maximum system call priority are keep permanently enabled, even
\r
1445 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1446 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1447 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1448 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1449 assigned a priority above the configured maximum system call priority.
\r
1450 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1451 that have been assigned a priority at or (logically) below the maximum
\r
1452 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1453 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1454 More information (albeit Cortex-M specific) is provided on the following
\r
1455 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1456 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1458 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1459 xReturn = xTickCount;
\r
1460 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1464 /*-----------------------------------------------------------*/
\r
1466 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1468 /* A critical section is not required because the variables are of type
\r
1470 return uxCurrentNumberOfTasks;
\r
1472 /*-----------------------------------------------------------*/
\r
1474 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1476 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1480 /* If null is passed in here then the name of the calling task is being queried. */
\r
1481 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1482 configASSERT( pxTCB );
\r
1483 return &( pxTCB->pcTaskName[ 0 ] );
\r
1486 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1487 /*-----------------------------------------------------------*/
\r
1489 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1491 unsigned portBASE_TYPE uxTaskGetSystemState( xTaskStatusType *pxTaskStatusArray, unsigned portBASE_TYPE uxArraySize, unsigned long *pulTotalRunTime )
\r
1493 unsigned portBASE_TYPE uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1495 vTaskSuspendAll();
\r
1497 /* Is there a space in the array for each task in the system? */
\r
1498 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1500 /* Fill in an xTaskStatusType structure with information on each
\r
1501 task in the Ready state. */
\r
1505 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1507 } while( uxQueue > ( unsigned portBASE_TYPE ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1509 /* Fill in an xTaskStatusType structure with information on each
\r
1510 task in the Blocked state. */
\r
1511 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxDelayedTaskList, eBlocked );
\r
1512 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxOverflowDelayedTaskList, eBlocked );
\r
1514 #if( INCLUDE_vTaskDelete == 1 )
\r
1516 /* Fill in an xTaskStatusType structure with information on
\r
1517 each task that has been deleted but not yet cleaned up. */
\r
1518 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1522 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1524 /* Fill in an xTaskStatusType structure with information on
\r
1525 each task in the Suspended state. */
\r
1526 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1530 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1532 if( pulTotalRunTime != NULL )
\r
1534 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1535 portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
\r
1537 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1543 if( pulTotalRunTime != NULL )
\r
1545 *pulTotalRunTime = 0;
\r
1551 ( void ) xTaskResumeAll();
\r
1556 #endif /* configUSE_TRACE_FACILITY */
\r
1557 /*----------------------------------------------------------*/
\r
1559 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1561 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1563 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1564 started, then xIdleTaskHandle will be NULL. */
\r
1565 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1566 return xIdleTaskHandle;
\r
1569 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1570 /*----------------------------------------------------------*/
\r
1572 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1573 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1574 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1576 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1578 void vTaskStepTick( portTickType xTicksToJump )
\r
1580 /* Correct the tick count value after a period during which the tick
\r
1581 was suppressed. Note this does *not* call the tick hook function for
\r
1582 each stepped tick. */
\r
1583 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1584 xTickCount += xTicksToJump;
\r
1585 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
1588 #endif /* configUSE_TICKLESS_IDLE */
\r
1589 /*----------------------------------------------------------*/
\r
1591 portBASE_TYPE xTaskIncrementTick( void )
\r
1594 portTickType xItemValue;
\r
1595 portBASE_TYPE xSwitchRequired = pdFALSE;
\r
1597 /* Called by the portable layer each time a tick interrupt occurs.
\r
1598 Increments the tick then checks to see if the new tick value will cause any
\r
1599 tasks to be unblocked. */
\r
1600 traceTASK_INCREMENT_TICK( xTickCount );
\r
1601 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1603 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1604 delayed lists if it wraps to 0. */
\r
1608 /* Minor optimisation. The tick count cannot change in this
\r
1610 const portTickType xConstTickCount = xTickCount;
\r
1612 if( xConstTickCount == ( portTickType ) 0U )
\r
1614 taskSWITCH_DELAYED_LISTS();
\r
1617 /* See if this tick has made a timeout expire. Tasks are stored in the
\r
1618 queue in the order of their wake time - meaning once one tasks has been
\r
1619 found whose block time has not expired there is no need not look any
\r
1620 further down the list. */
\r
1621 if( xConstTickCount >= xNextTaskUnblockTime )
\r
1625 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1627 /* The delayed list is empty. Set xNextTaskUnblockTime to
\r
1628 the maximum possible value so it is extremely unlikely that
\r
1629 the if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1630 next time through. */
\r
1631 xNextTaskUnblockTime = portMAX_DELAY;
\r
1636 /* The delayed list is not empty, get the value of the item
\r
1637 at the head of the delayed list. This is the time at which
\r
1638 the task at the head of the delayed list must be removed
\r
1639 from the Blocked state. */
\r
1640 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1641 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1643 if( xConstTickCount < xItemValue )
\r
1645 /* It is not time to unblock this item yet, but the item
\r
1646 value is the time at which the task at the head of the
\r
1647 blocked list must be removed from the Blocked state -
\r
1648 so record the item value in xNextTaskUnblockTime. */
\r
1649 xNextTaskUnblockTime = xItemValue;
\r
1653 /* It is time to remove the item from the Blocked state. */
\r
1654 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1656 /* Is the task waiting on an event also? If so remove it
\r
1657 from the event list. */
\r
1658 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1660 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1663 /* Place the unblocked task into the appropriate ready
\r
1665 prvAddTaskToReadyList( pxTCB );
\r
1667 /* A task being unblocked cannot cause an immediate context
\r
1668 switch if preemption is turned off. */
\r
1669 #if ( configUSE_PREEMPTION == 1 )
\r
1671 /* Preemption is on, but a context switch should only
\r
1672 be performed if the unblocked task has a priority that
\r
1673 is equal to or higher than the currently executing
\r
1675 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1677 xSwitchRequired = pdTRUE;
\r
1680 #endif /* configUSE_PREEMPTION */
\r
1686 /* Tasks of equal priority to the currently running task will share
\r
1687 processing time (time slice) if preemption is on, and the application
\r
1688 writer has not explicitly turned time slicing off. */
\r
1689 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
1691 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1693 xSwitchRequired = pdTRUE;
\r
1696 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
1698 #if ( configUSE_TICK_HOOK == 1 )
\r
1700 /* Guard against the tick hook being called when the pended tick
\r
1701 count is being unwound (when the scheduler is being unlocked). */
\r
1702 if( uxPendedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1704 vApplicationTickHook();
\r
1707 #endif /* configUSE_TICK_HOOK */
\r
1713 /* The tick hook gets called at regular intervals, even if the
\r
1714 scheduler is locked. */
\r
1715 #if ( configUSE_TICK_HOOK == 1 )
\r
1717 vApplicationTickHook();
\r
1722 #if ( configUSE_PREEMPTION == 1 )
\r
1724 if( xYieldPending != pdFALSE )
\r
1726 xSwitchRequired = pdTRUE;
\r
1729 #endif /* configUSE_PREEMPTION */
\r
1731 return xSwitchRequired;
\r
1733 /*-----------------------------------------------------------*/
\r
1735 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1737 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1741 /* If xTask is NULL then we are setting our own task hook. */
\r
1742 if( xTask == NULL )
\r
1744 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1748 xTCB = ( tskTCB * ) xTask;
\r
1751 /* Save the hook function in the TCB. A critical section is required as
\r
1752 the value can be accessed from an interrupt. */
\r
1753 taskENTER_CRITICAL();
\r
1754 xTCB->pxTaskTag = pxHookFunction;
\r
1755 taskEXIT_CRITICAL();
\r
1758 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1759 /*-----------------------------------------------------------*/
\r
1761 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1763 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1766 pdTASK_HOOK_CODE xReturn;
\r
1768 /* If xTask is NULL then we are setting our own task hook. */
\r
1769 if( xTask == NULL )
\r
1771 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1775 xTCB = ( tskTCB * ) xTask;
\r
1778 /* Save the hook function in the TCB. A critical section is required as
\r
1779 the value can be accessed from an interrupt. */
\r
1780 taskENTER_CRITICAL();
\r
1781 xReturn = xTCB->pxTaskTag;
\r
1782 taskEXIT_CRITICAL();
\r
1787 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1788 /*-----------------------------------------------------------*/
\r
1790 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1792 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1795 portBASE_TYPE xReturn;
\r
1797 /* If xTask is NULL then we are calling our own task hook. */
\r
1798 if( xTask == NULL )
\r
1800 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1804 xTCB = ( tskTCB * ) xTask;
\r
1807 if( xTCB->pxTaskTag != NULL )
\r
1809 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1819 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1820 /*-----------------------------------------------------------*/
\r
1822 void vTaskSwitchContext( void )
\r
1824 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1826 /* The scheduler is currently suspended - do not allow a context
\r
1828 xYieldPending = pdTRUE;
\r
1832 xYieldPending = pdFALSE;
\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
1865 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1867 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1868 structure specific to this task. */
\r
1869 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1871 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1874 /*-----------------------------------------------------------*/
\r
1876 void vTaskPlaceOnEventList( xList * const pxEventList, portTickType xTicksToWait )
\r
1878 portTickType xTimeToWake;
\r
1880 configASSERT( pxEventList );
\r
1882 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1883 SCHEDULER SUSPENDED. */
\r
1885 /* Place the event list item of the TCB in the appropriate event list.
\r
1886 This is placed in the list in priority order so the highest priority task
\r
1887 is the first to be woken by the event. */
\r
1888 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
1890 /* We must remove ourselves from the ready list before adding ourselves
\r
1891 to the blocked list as the same list item is used for both lists. We have
\r
1892 exclusive access to the ready lists as the scheduler is locked. */
\r
1893 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1895 /* The current task must be in a ready list, so there is no need to
\r
1896 check, and the port reset macro can be called directly. */
\r
1897 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1900 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1902 if( xTicksToWait == portMAX_DELAY )
\r
1904 /* Add ourselves to the suspended task list instead of a delayed task
\r
1905 list to ensure we are not woken by a timing event. We will block
\r
1907 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\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
1917 #else /* INCLUDE_vTaskSuspend */
\r
1919 /* Calculate the time at which the task should be woken if the event does
\r
1920 not occur. This may overflow but this doesn't matter. */
\r
1921 xTimeToWake = xTickCount + xTicksToWait;
\r
1922 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1924 #endif /* INCLUDE_vTaskSuspend */
\r
1926 /*-----------------------------------------------------------*/
\r
1928 #if configUSE_TIMERS == 1
\r
1930 void vTaskPlaceOnEventListRestricted( xList * const pxEventList, portTickType xTicksToWait )
\r
1932 portTickType xTimeToWake;
\r
1934 configASSERT( pxEventList );
\r
1936 /* This function should not be called by application code hence the
\r
1937 'Restricted' in its name. It is not part of the public API. It is
\r
1938 designed for use by kernel code, and has special calling requirements -
\r
1939 it should be called from a critical section. */
\r
1942 /* Place the event list item of the TCB in the appropriate event list.
\r
1943 In this case it is assume that this is the only task that is going to
\r
1944 be waiting on this event list, so the faster vListInsertEnd() function
\r
1945 can be used in place of vListInsert. */
\r
1946 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
1948 /* We must remove this task from the ready list before adding it to the
\r
1949 blocked list as the same list item is used for both lists. This
\r
1950 function is called form a critical section. */
\r
1951 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1953 /* The current task must be in a ready list, so there is no need to
\r
1954 check, and the port reset macro can be called directly. */
\r
1955 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1958 /* Calculate the time at which the task should be woken if the event does
\r
1959 not occur. This may overflow but this doesn't matter. */
\r
1960 xTimeToWake = xTickCount + xTicksToWait;
\r
1962 traceTASK_DELAY_UNTIL();
\r
1963 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1966 #endif /* configUSE_TIMERS */
\r
1967 /*-----------------------------------------------------------*/
\r
1969 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1971 tskTCB *pxUnblockedTCB;
\r
1972 portBASE_TYPE xReturn;
\r
1974 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1975 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1977 /* The event list is sorted in priority order, so we can remove the
\r
1978 first in the list, remove the TCB from the delayed list, and add
\r
1979 it to the ready list.
\r
1981 If an event is for a queue that is locked then this function will never
\r
1982 get called - the lock count on the queue will get modified instead. This
\r
1983 means we can always expect exclusive access to the event list here.
\r
1985 This function assumes that a check has already been made to ensure that
\r
1986 pxEventList is not empty. */
\r
1987 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1988 configASSERT( pxUnblockedTCB );
\r
1989 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1991 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1993 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1994 prvAddTaskToReadyList( pxUnblockedTCB );
\r
1998 /* We cannot access the delayed or ready lists, so will hold this
\r
1999 task pending until the scheduler is resumed. */
\r
2000 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
2003 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
2005 /* Return true if the task removed from the event list has
\r
2006 a higher priority than the calling task. This allows
\r
2007 the calling task to know if it should force a context
\r
2011 /* Mark that a yield is pending in case the user is not using the
\r
2012 "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
\r
2013 xYieldPending = pdTRUE;
\r
2017 xReturn = pdFALSE;
\r
2022 /*-----------------------------------------------------------*/
\r
2024 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
2026 configASSERT( pxTimeOut );
\r
2027 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
2028 pxTimeOut->xTimeOnEntering = xTickCount;
\r
2030 /*-----------------------------------------------------------*/
\r
2032 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
2034 portBASE_TYPE xReturn;
\r
2036 configASSERT( pxTimeOut );
\r
2037 configASSERT( pxTicksToWait );
\r
2039 taskENTER_CRITICAL();
\r
2041 /* Minor optimisation. The tick count cannot change in this block. */
\r
2042 const portTickType xConstTickCount = xTickCount;
\r
2044 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2045 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2046 the maximum block time then the task should block indefinitely, and
\r
2047 therefore never time out. */
\r
2048 if( *pxTicksToWait == portMAX_DELAY )
\r
2050 xReturn = pdFALSE;
\r
2052 else /* We are not blocking indefinitely, perform the checks below. */
\r
2055 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2057 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2058 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2059 It must have wrapped all the way around and gone past us again. This
\r
2060 passed since vTaskSetTimeout() was called. */
\r
2063 else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
2065 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2066 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2067 vTaskSetTimeOutState( pxTimeOut );
\r
2068 xReturn = pdFALSE;
\r
2075 taskEXIT_CRITICAL();
\r
2079 /*-----------------------------------------------------------*/
\r
2081 void vTaskMissedYield( void )
\r
2083 xYieldPending = pdTRUE;
\r
2085 /*-----------------------------------------------------------*/
\r
2087 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2089 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
2091 unsigned portBASE_TYPE uxReturn;
\r
2094 if( xTask != NULL )
\r
2096 pxTCB = ( tskTCB * ) xTask;
\r
2097 uxReturn = pxTCB->uxTaskNumber;
\r
2107 #endif /* configUSE_TRACE_FACILITY */
\r
2108 /*-----------------------------------------------------------*/
\r
2110 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2112 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
2116 if( xTask != NULL )
\r
2118 pxTCB = ( tskTCB * ) xTask;
\r
2119 pxTCB->uxTaskNumber = uxHandle;
\r
2123 #endif /* configUSE_TRACE_FACILITY */
\r
2126 * -----------------------------------------------------------
\r
2128 * ----------------------------------------------------------
\r
2130 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2131 * language extensions. The equivalent prototype for this function is:
\r
2133 * void prvIdleTask( void *pvParameters );
\r
2136 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2138 /* Stop warnings. */
\r
2139 ( void ) pvParameters;
\r
2143 /* See if any tasks have been deleted. */
\r
2144 prvCheckTasksWaitingTermination();
\r
2146 #if ( configUSE_PREEMPTION == 0 )
\r
2148 /* If we are not using preemption we keep forcing a task switch to
\r
2149 see if any other task has become available. If we are using
\r
2150 preemption we don't need to do this as any task becoming available
\r
2151 will automatically get the processor anyway. */
\r
2154 #endif /* configUSE_PREEMPTION */
\r
2156 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2158 /* When using preemption tasks of equal priority will be
\r
2159 timesliced. If a task that is sharing the idle priority is ready
\r
2160 to run then the idle task should yield before the end of the
\r
2163 A critical region is not required here as we are just reading from
\r
2164 the list, and an occasional incorrect value will not matter. If
\r
2165 the ready list at the idle priority contains more than one task
\r
2166 then a task other than the idle task is ready to execute. */
\r
2167 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2172 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2174 #if ( configUSE_IDLE_HOOK == 1 )
\r
2176 extern void vApplicationIdleHook( void );
\r
2178 /* Call the user defined function from within the idle task. This
\r
2179 allows the application designer to add background functionality
\r
2180 without the overhead of a separate task.
\r
2181 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2182 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2183 vApplicationIdleHook();
\r
2185 #endif /* configUSE_IDLE_HOOK */
\r
2187 /* This conditional compilation should use inequality to 0, not equality
\r
2188 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2189 user defined low power mode implementations require
\r
2190 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2191 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2193 portTickType xExpectedIdleTime;
\r
2195 /* It is not desirable to suspend then resume the scheduler on
\r
2196 each iteration of the idle task. Therefore, a preliminary
\r
2197 test of the expected idle time is performed without the
\r
2198 scheduler suspended. The result here is not necessarily
\r
2200 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2202 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2204 vTaskSuspendAll();
\r
2206 /* Now the scheduler is suspended, the expected idle
\r
2207 time can be sampled again, and this time its value can
\r
2209 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2210 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2212 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2214 traceLOW_POWER_IDLE_BEGIN();
\r
2215 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2216 traceLOW_POWER_IDLE_END();
\r
2219 ( void ) xTaskResumeAll();
\r
2222 #endif /* configUSE_TICKLESS_IDLE */
\r
2225 /*-----------------------------------------------------------*/
\r
2227 #if configUSE_TICKLESS_IDLE != 0
\r
2229 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2231 eSleepModeStatus eReturn = eStandardSleep;
\r
2233 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2235 /* A task was made ready while the scheduler was suspended. */
\r
2236 eReturn = eAbortSleep;
\r
2238 else if( xYieldPending != pdFALSE )
\r
2240 /* A yield was pended while the scheduler was suspended. */
\r
2241 eReturn = eAbortSleep;
\r
2245 #if configUSE_TIMERS == 0
\r
2247 /* The idle task exists in addition to the application tasks. */
\r
2248 const unsigned portBASE_TYPE uxNonApplicationTasks = 1;
\r
2250 /* If timers are not being used and all the tasks are in the
\r
2251 suspended list (which might mean they have an infinite block
\r
2252 time rather than actually being suspended) then it is safe to
\r
2253 turn all clocks off and just wait for external interrupts. */
\r
2254 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2256 eReturn = eNoTasksWaitingTimeout;
\r
2259 #endif /* configUSE_TIMERS */
\r
2264 #endif /* configUSE_TICKLESS_IDLE */
\r
2265 /*-----------------------------------------------------------*/
\r
2267 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2269 unsigned portBASE_TYPE x;
\r
2271 /* Store the task name in the TCB. */
\r
2272 for( x = ( unsigned portBASE_TYPE ) 0; x < ( unsigned portBASE_TYPE ) configMAX_TASK_NAME_LEN; x++ )
\r
2274 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2276 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2277 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2278 string is not accessible (extremely unlikely). */
\r
2279 if( pcName[ x ] == 0x00 )
\r
2285 /* Ensure the name string is terminated in the case that the string length
\r
2286 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2287 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = ( signed char ) '\0';
\r
2289 /* This is used as an array index so must ensure it's not too large. First
\r
2290 remove the privilege bit if one is present. */
\r
2291 if( uxPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
\r
2293 uxPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2296 pxTCB->uxPriority = uxPriority;
\r
2297 #if ( configUSE_MUTEXES == 1 )
\r
2299 pxTCB->uxBasePriority = uxPriority;
\r
2301 #endif /* configUSE_MUTEXES */
\r
2303 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2304 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2306 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2307 back to the containing TCB from a generic item in a list. */
\r
2308 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2310 /* Event lists are always in priority order. */
\r
2311 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2312 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2314 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2316 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2318 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2320 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2322 pxTCB->pxTaskTag = NULL;
\r
2324 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2326 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2328 pxTCB->ulRunTimeCounter = 0UL;
\r
2330 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2332 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2334 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2336 #else /* portUSING_MPU_WRAPPERS */
\r
2338 ( void ) xRegions;
\r
2339 ( void ) usStackDepth;
\r
2341 #endif /* portUSING_MPU_WRAPPERS */
\r
2343 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2345 /* Initialise this task's Newlib reent structure. */
\r
2346 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2348 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2350 /*-----------------------------------------------------------*/
\r
2352 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2354 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2358 /* If null is passed in here then we are deleting ourselves. */
\r
2359 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2361 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2364 #endif /* portUSING_MPU_WRAPPERS */
\r
2365 /*-----------------------------------------------------------*/
\r
2367 static void prvInitialiseTaskLists( void )
\r
2369 unsigned portBASE_TYPE uxPriority;
\r
2371 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < ( unsigned portBASE_TYPE ) configMAX_PRIORITIES; uxPriority++ )
\r
2373 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
2376 vListInitialise( &xDelayedTaskList1 );
\r
2377 vListInitialise( &xDelayedTaskList2 );
\r
2378 vListInitialise( &xPendingReadyList );
\r
2380 #if ( INCLUDE_vTaskDelete == 1 )
\r
2382 vListInitialise( &xTasksWaitingTermination );
\r
2384 #endif /* INCLUDE_vTaskDelete */
\r
2386 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2388 vListInitialise( &xSuspendedTaskList );
\r
2390 #endif /* INCLUDE_vTaskSuspend */
\r
2392 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2394 pxDelayedTaskList = &xDelayedTaskList1;
\r
2395 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2397 /*-----------------------------------------------------------*/
\r
2399 static void prvCheckTasksWaitingTermination( void )
\r
2401 #if ( INCLUDE_vTaskDelete == 1 )
\r
2403 portBASE_TYPE xListIsEmpty;
\r
2405 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2406 too often in the idle task. */
\r
2407 while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2409 vTaskSuspendAll();
\r
2410 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2411 ( void ) xTaskResumeAll();
\r
2413 if( xListIsEmpty == pdFALSE )
\r
2417 taskENTER_CRITICAL();
\r
2419 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
2420 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2421 --uxCurrentNumberOfTasks;
\r
2424 taskEXIT_CRITICAL();
\r
2426 prvDeleteTCB( pxTCB );
\r
2430 #endif /* vTaskDelete */
\r
2432 /*-----------------------------------------------------------*/
\r
2434 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2436 /* The list item will be inserted in wake time order. */
\r
2437 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2439 if( xTimeToWake < xTickCount )
\r
2441 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2442 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2446 /* The wake time has not overflowed, so we can use the current block list. */
\r
2447 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2449 /* If the task entering the blocked state was placed at the head of the
\r
2450 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2452 if( xTimeToWake < xNextTaskUnblockTime )
\r
2454 xNextTaskUnblockTime = xTimeToWake;
\r
2458 /*-----------------------------------------------------------*/
\r
2460 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2464 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2465 the implementation of the port malloc function. */
\r
2466 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2468 if( pxNewTCB != NULL )
\r
2470 /* Allocate space for the stack used by the task being created.
\r
2471 The base of the stack memory stored in the TCB so the task can
\r
2472 be deleted later if required. */
\r
2473 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2475 if( pxNewTCB->pxStack == NULL )
\r
2477 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2478 vPortFree( pxNewTCB );
\r
2483 /* Just to help debugging. */
\r
2484 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2490 /*-----------------------------------------------------------*/
\r
2492 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2494 static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState )
\r
2496 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2497 unsigned portBASE_TYPE uxTask = 0;
\r
2499 if( listCURRENT_LIST_LENGTH( pxList ) > ( unsigned portBASE_TYPE ) 0 )
\r
2501 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2503 /* Populate an xTaskStatusType structure within the
\r
2504 pxTaskStatusArray array for each task that is referenced from
\r
2505 pxList. See the definition of xTaskStatusType in task.h for the
\r
2506 meaning of each xTaskStatusType structure member. */
\r
2509 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2511 pxTaskStatusArray[ uxTask ].xHandle = ( xTaskHandle ) pxNextTCB;
\r
2512 pxTaskStatusArray[ uxTask ].pcTaskName = ( const signed char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
2513 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
2514 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
2515 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
2517 #if ( configUSE_MUTEXES == 1 )
\r
2519 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
2523 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
2527 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2529 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
2533 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
2537 #if ( portSTACK_GROWTH > 0 )
\r
2539 ppxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2543 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2549 } while( pxNextTCB != pxFirstTCB );
\r
2555 #endif /* configUSE_TRACE_FACILITY */
\r
2556 /*-----------------------------------------------------------*/
\r
2558 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2560 static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2562 unsigned short usCount = 0U;
\r
2564 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2566 pucStackByte -= portSTACK_GROWTH;
\r
2570 usCount /= sizeof( portSTACK_TYPE );
\r
2575 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
2576 /*-----------------------------------------------------------*/
\r
2578 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2580 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2583 unsigned char *pcEndOfStack;
\r
2584 unsigned portBASE_TYPE uxReturn;
\r
2586 pxTCB = prvGetTCBFromHandle( xTask );
\r
2588 #if portSTACK_GROWTH < 0
\r
2590 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2594 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2598 uxReturn = ( unsigned portBASE_TYPE ) prvTaskCheckFreeStackSpace( pcEndOfStack );
\r
2603 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
2604 /*-----------------------------------------------------------*/
\r
2606 #if ( INCLUDE_vTaskDelete == 1 )
\r
2608 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2610 /* This call is required specifically for the TriCore port. It must be
\r
2611 above the vPortFree() calls. The call is also used by ports/demos that
\r
2612 want to allocate and clean RAM statically. */
\r
2613 portCLEAN_UP_TCB( pxTCB );
\r
2615 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2616 the task to free any memory allocated at the application level. */
\r
2617 vPortFreeAligned( pxTCB->pxStack );
\r
2618 vPortFree( pxTCB );
\r
2621 #endif /* INCLUDE_vTaskDelete */
\r
2622 /*-----------------------------------------------------------*/
\r
2624 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2626 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2628 xTaskHandle xReturn;
\r
2630 /* A critical section is not required as this is not called from
\r
2631 an interrupt and the current TCB will always be the same for any
\r
2632 individual execution thread. */
\r
2633 xReturn = pxCurrentTCB;
\r
2638 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
2639 /*-----------------------------------------------------------*/
\r
2641 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2643 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2645 portBASE_TYPE xReturn;
\r
2647 if( xSchedulerRunning == pdFALSE )
\r
2649 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2653 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2655 xReturn = taskSCHEDULER_RUNNING;
\r
2659 xReturn = taskSCHEDULER_SUSPENDED;
\r
2666 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
2667 /*-----------------------------------------------------------*/
\r
2669 #if ( configUSE_MUTEXES == 1 )
\r
2671 void vTaskPriorityInherit( xTaskHandle const pxMutexHolder )
\r
2673 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2675 /* If the mutex was given back by an interrupt while the queue was
\r
2676 locked then the mutex holder might now be NULL. */
\r
2677 if( pxMutexHolder != NULL )
\r
2679 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2681 /* Adjust the mutex holder state to account for its new priority. */
\r
2682 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2684 /* If the task being modified is in the ready state it will need to
\r
2685 be moved into a new list. */
\r
2686 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2688 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
2690 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2693 /* Inherit the priority before being moved into the new list. */
\r
2694 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2695 prvAddTaskToReadyList( pxTCB );
\r
2699 /* Just inherit the priority. */
\r
2700 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2703 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2708 #endif /* configUSE_MUTEXES */
\r
2709 /*-----------------------------------------------------------*/
\r
2711 #if ( configUSE_MUTEXES == 1 )
\r
2713 void vTaskPriorityDisinherit( xTaskHandle const pxMutexHolder )
\r
2715 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2717 if( pxMutexHolder != NULL )
\r
2719 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2721 /* We must be the running task to be able to give the mutex back.
\r
2722 Remove ourselves from the ready list we currently appear in. */
\r
2723 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
2725 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2728 /* Disinherit the priority before adding the task into the new
\r
2730 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2731 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2732 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
2733 prvAddTaskToReadyList( pxTCB );
\r
2738 #endif /* configUSE_MUTEXES */
\r
2739 /*-----------------------------------------------------------*/
\r
2741 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2743 void vTaskEnterCritical( void )
\r
2745 portDISABLE_INTERRUPTS();
\r
2747 if( xSchedulerRunning != pdFALSE )
\r
2749 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2753 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2754 /*-----------------------------------------------------------*/
\r
2756 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2758 void vTaskExitCritical( void )
\r
2760 if( xSchedulerRunning != pdFALSE )
\r
2762 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2764 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2766 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2768 portENABLE_INTERRUPTS();
\r
2774 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2775 /*-----------------------------------------------------------*/
\r
2777 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
2779 void vTaskList( signed char *pcWriteBuffer )
\r
2781 xTaskStatusType *pxTaskStatusArray;
\r
2782 volatile unsigned portBASE_TYPE uxArraySize, x;
\r
2788 * This function is provided for convenience only, and is used by many
\r
2789 * of the demo applications. Do not consider it to be part of the
\r
2792 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
2793 * uxTaskGetSystemState() output into a human readable table that
\r
2794 * displays task names, states and stack usage.
\r
2796 * vTaskList() has a dependency on the sprintf() C library function that
\r
2797 * might bloat the code size, use a lot of stack, and provide different
\r
2798 * results on different platforms. An alternative, tiny, third party,
\r
2799 * and limited functionality implementation of sprintf() is provided in
\r
2800 * many of the FreeRTOS/Demo sub-directories in a file called
\r
2801 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
2802 * snprintf() implementation!).
\r
2804 * It is recommended that production systems call uxTaskGetSystemState()
\r
2805 * directly to get access to raw stats data, rather than indirectly
\r
2806 * through a call to vTaskList().
\r
2810 /* Make sure the write buffer does not contain a string. */
\r
2811 *pcWriteBuffer = 0x00;
\r
2813 /* Take a snapshot of the number of tasks in case it changes while this
\r
2814 function is executing. */
\r
2815 uxArraySize = uxCurrentNumberOfTasks;
\r
2817 /* Allocate an array index for each task. */
\r
2818 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
\r
2820 if( pxTaskStatusArray != NULL )
\r
2822 /* Generate the (binary) data. */
\r
2823 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
2825 /* Create a human readable table from the binary data. */
\r
2826 for( x = 0; x < uxArraySize; x++ )
\r
2828 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
2830 case eReady: cStatus = tskREADY_CHAR;
\r
2833 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
2836 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
2839 case eDeleted: cStatus = tskDELETED_CHAR;
\r
2842 default: /* Should not get here, but it is included
\r
2843 to prevent static checking errors. */
\r
2848 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxTaskStatusArray[ x ].pcTaskName, cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
\r
2849 pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
\r
2852 /* Free the array again. */
\r
2853 vPortFree( pxTaskStatusArray );
\r
2857 #endif /* configUSE_TRACE_FACILITY */
\r
2858 /*----------------------------------------------------------*/
\r
2860 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
2862 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
2864 xTaskStatusType *pxTaskStatusArray;
\r
2865 volatile unsigned portBASE_TYPE uxArraySize, x;
\r
2866 unsigned long ulTotalTime, ulStatsAsPercentage;
\r
2871 * This function is provided for convenience only, and is used by many
\r
2872 * of the demo applications. Do not consider it to be part of the
\r
2875 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
2876 * of the uxTaskGetSystemState() output into a human readable table that
\r
2877 * displays the amount of time each task has spent in the Running state
\r
2878 * in both absolute and percentage terms.
\r
2880 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
2881 * function that might bloat the code size, use a lot of stack, and
\r
2882 * provide different results on different platforms. An alternative,
\r
2883 * tiny, third party, and limited functionality implementation of
\r
2884 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
2885 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
2886 * a full snprintf() implementation!).
\r
2888 * It is recommended that production systems call uxTaskGetSystemState()
\r
2889 * directly to get access to raw stats data, rather than indirectly
\r
2890 * through a call to vTaskGetRunTimeStats().
\r
2893 /* Make sure the write buffer does not contain a string. */
\r
2894 *pcWriteBuffer = 0x00;
\r
2896 /* Take a snapshot of the number of tasks in case it changes while this
\r
2897 function is executing. */
\r
2898 uxArraySize = uxCurrentNumberOfTasks;
\r
2900 /* Allocate an array index for each task. */
\r
2901 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
\r
2903 if( pxTaskStatusArray != NULL )
\r
2905 /* Generate the (binary) data. */
\r
2906 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
2908 /* For percentage calculations. */
\r
2909 ulTotalTime /= 100UL;
\r
2911 /* Avoid divide by zero errors. */
\r
2912 if( ulTotalTime > 0 )
\r
2914 /* Create a human readable table from the binary data. */
\r
2915 for( x = 0; x < uxArraySize; x++ )
\r
2917 /* What percentage of the total run time has the task used?
\r
2918 This will always be rounded down to the nearest integer.
\r
2919 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
2920 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
2922 if( ulStatsAsPercentage > 0UL )
\r
2924 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2926 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
2930 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2931 printf() library can be used. */
\r
2932 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2938 /* If the percentage is zero here then the task has
\r
2939 consumed less than 1% of the total run time. */
\r
2940 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2942 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
2946 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2947 printf() library can be used. */
\r
2948 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
2953 pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
\r
2957 /* Free the array again. */
\r
2958 vPortFree( pxTaskStatusArray );
\r
2962 #endif /* configGENERATE_RUN_TIME_STATS */
\r
projects / freertos / blob