2 FreeRTOS V7.5.1 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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6 ***************************************************************************
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8 * FreeRTOS provides completely free yet professionally developed, *
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9 * robust, strictly quality controlled, supported, and cross *
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10 * platform software that has become a de facto standard. *
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12 * Help yourself get started quickly and support the FreeRTOS *
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13 * project by purchasing a FreeRTOS tutorial book, reference *
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14 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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18 ***************************************************************************
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20 This file is part of the FreeRTOS distribution.
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22 FreeRTOS is free software; you can redistribute it and/or modify it under
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23 the terms of the GNU General Public License (version 2) as published by the
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24 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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26 >>! NOTE: The modification to the GPL is included to allow you to distribute
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27 >>! a combined work that includes FreeRTOS without being obliged to provide
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28 >>! the source code for proprietary components outside of the FreeRTOS
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31 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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32 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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33 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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34 link: http://www.freertos.org/a00114.html
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38 ***************************************************************************
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40 * Having a problem? Start by reading the FAQ "My application does *
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41 * not run, what could be wrong?" *
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43 * http://www.FreeRTOS.org/FAQHelp.html *
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45 ***************************************************************************
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47 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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48 license and Real Time Engineers Ltd. contact details.
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50 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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51 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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52 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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54 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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55 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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56 licenses offer ticketed support, indemnification and middleware.
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58 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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59 engineered and independently SIL3 certified version for use in safety and
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60 mission critical applications that require provable dependability.
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65 /* Standard includes. */
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69 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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70 all the API functions to use the MPU wrappers. That should only be done when
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71 task.h is included from an application file. */
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72 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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74 /* FreeRTOS includes. */
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75 #include "FreeRTOS.h"
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78 #include "StackMacros.h"
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80 /* Lint e961 and e750 are suppressed as a MISRA exception justified because the
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81 MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
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82 header files above, but not in this file, in order to generate the correct
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83 privileged Vs unprivileged linkage and placement. */
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84 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
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86 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
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87 /* At the bottom of this file are two optional functions that can be used
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88 to generate human readable text from the raw data generated by the
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89 uxTaskGetSystemState() function. Note the formatting functions are provided
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90 for convenience only, and are NOT considered part of the kernel. */
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92 #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) */
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94 /* Sanity check the configuration. */
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95 #if configUSE_TICKLESS_IDLE != 0
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96 #if INCLUDE_vTaskSuspend != 1
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97 #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
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98 #endif /* INCLUDE_vTaskSuspend */
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99 #endif /* configUSE_TICKLESS_IDLE */
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102 * Defines the size, in words, of the stack allocated to the idle task.
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104 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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107 * Task control block. A task control block (TCB) is allocated for each task,
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108 * and stores task state information, including a pointer to the task's context
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109 * (the task's run time environment, including register values)
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111 typedef struct tskTaskControlBlock
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113 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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115 #if ( portUSING_MPU_WRAPPERS == 1 )
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116 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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119 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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120 xListItem xEventListItem; /*< Used to reference a task from an event list. */
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121 unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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122 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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123 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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125 #if ( portSTACK_GROWTH > 0 )
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126 portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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129 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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130 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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133 #if ( configUSE_TRACE_FACILITY == 1 )
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134 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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135 unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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138 #if ( configUSE_MUTEXES == 1 )
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139 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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142 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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143 pdTASK_HOOK_CODE pxTaskTag;
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146 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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147 unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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150 #if ( configUSE_NEWLIB_REENTRANT == 1 )
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151 /* Allocate a Newlib reent structure that is specific to this task.
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152 Note Newlib support has been included by popular demand, but is not
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153 used by the FreeRTOS maintainers themselves. FreeRTOS is not
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154 responsible for resulting newlib operation. User must be familiar with
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155 newlib and must provide system-wide implementations of the necessary
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156 stubs. Be warned that (at the time of writing) the current newlib design
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157 implements a system-wide malloc() that must be provided with locks. */
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158 struct _reent xNewLib_reent;
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165 * Some kernel aware debuggers require the data the debugger needs access to to
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166 * be global, rather than file scope.
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168 #ifdef portREMOVE_STATIC_QUALIFIER
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172 /*lint -e956 A manual analysis and inspection has been used to determine which
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173 static variables must be declared volatile. */
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175 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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177 /* Lists for ready and blocked tasks. --------------------*/
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178 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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179 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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180 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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181 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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182 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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183 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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185 #if ( INCLUDE_vTaskDelete == 1 )
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187 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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188 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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192 #if ( INCLUDE_vTaskSuspend == 1 )
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194 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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198 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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200 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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204 /* Other file private variables. --------------------------------*/
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205 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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206 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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207 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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208 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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209 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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210 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxPendedTicks = ( unsigned portBASE_TYPE ) 0U;
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211 PRIVILEGED_DATA static volatile portBASE_TYPE xYieldPending = pdFALSE;
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212 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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213 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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214 PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = portMAX_DELAY;
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216 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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218 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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219 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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225 /* Debugging and trace facilities private variables and macros. ------------*/
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228 * The value used to fill the stack of a task when the task is created. This
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229 * is used purely for checking the high water mark for tasks.
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231 #define tskSTACK_FILL_BYTE ( 0xa5U )
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234 * Macros used by vListTask to indicate which state a task is in.
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236 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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237 #define tskREADY_CHAR ( ( signed char ) 'R' )
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238 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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239 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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241 /*-----------------------------------------------------------*/
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243 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
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245 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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246 performed in a generic way that is not optimised to any particular
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247 microcontroller architecture. */
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249 /* uxTopReadyPriority holds the priority of the highest priority ready
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251 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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253 if( ( uxPriority ) > uxTopReadyPriority ) \
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255 uxTopReadyPriority = ( uxPriority ); \
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257 } /* taskRECORD_READY_PRIORITY */
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259 /*-----------------------------------------------------------*/
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261 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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263 /* Find the highest priority queue that contains ready tasks. */ \
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264 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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266 configASSERT( uxTopReadyPriority ); \
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267 --uxTopReadyPriority; \
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270 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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271 the same priority get an equal share of the processor time. */ \
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272 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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273 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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275 /*-----------------------------------------------------------*/
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277 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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278 they are only required when a port optimised method of task selection is
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280 #define taskRESET_READY_PRIORITY( uxPriority )
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281 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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283 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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285 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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286 performed in a way that is tailored to the particular microcontroller
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287 architecture being used. */
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289 /* A port optimised version is provided. Call the port defined macros. */
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290 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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292 /*-----------------------------------------------------------*/
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294 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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296 unsigned portBASE_TYPE uxTopPriority; \
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298 /* Find the highest priority queue that contains ready tasks. */ \
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299 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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300 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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301 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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302 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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304 /*-----------------------------------------------------------*/
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306 /* A port optimised version is provided, call it only if the TCB being reset
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307 is being referenced from a ready list. If it is referenced from a delayed
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308 or suspended list then it won't be in a ready list. */
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309 #define taskRESET_READY_PRIORITY( uxPriority ) \
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311 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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313 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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317 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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319 /*-----------------------------------------------------------*/
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321 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
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322 count overflows. */
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323 #define taskSWITCH_DELAYED_LISTS() \
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327 /* The delayed tasks list should be empty when the lists are switched. */ \
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328 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
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330 pxTemp = pxDelayedTaskList; \
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331 pxDelayedTaskList = pxOverflowDelayedTaskList; \
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332 pxOverflowDelayedTaskList = pxTemp; \
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333 xNumOfOverflows++; \
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335 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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337 /* The new current delayed list is empty. Set \
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338 xNextTaskUnblockTime to the maximum possible value so it is \
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339 extremely unlikely that the \
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340 if( xTickCount >= xNextTaskUnblockTime ) test will pass until \
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341 there is an item in the delayed list. */ \
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342 xNextTaskUnblockTime = portMAX_DELAY; \
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346 /* The new current delayed list is not empty, get the value of \
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347 the item at the head of the delayed list. This is the time at \
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348 which the task at the head of the delayed list should be removed \
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349 from the Blocked state. */ \
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350 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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351 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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355 /*-----------------------------------------------------------*/
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358 * Place the task represented by pxTCB into the appropriate ready list for
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359 * the task. It is inserted at the end of the list.
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361 #define prvAddTaskToReadyList( pxTCB ) \
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362 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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363 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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364 vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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365 /*-----------------------------------------------------------*/
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368 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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369 * where NULL is used to indicate that the handle of the currently executing
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370 * task should be used in place of the parameter. This macro simply checks to
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371 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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373 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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375 /* Callback function prototypes. --------------------------*/
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376 extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
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377 extern void vApplicationTickHook( void );
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379 /* File private functions. --------------------------------*/
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382 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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383 * into the TCB structure.
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385 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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388 * Utility to ready all the lists used by the scheduler. This is called
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389 * automatically upon the creation of the first task.
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391 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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394 * The idle task, which as all tasks is implemented as a never ending loop.
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395 * The idle task is automatically created and added to the ready lists upon
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396 * creation of the first user task.
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398 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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399 * language extensions. The equivalent prototype for this function is:
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401 * void prvIdleTask( void *pvParameters );
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404 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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407 * Utility to free all memory allocated by the scheduler to hold a TCB,
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408 * including the stack pointed to by the TCB.
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410 * This does not free memory allocated by the task itself (i.e. memory
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411 * allocated by calls to pvPortMalloc from within the tasks application code).
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413 #if ( INCLUDE_vTaskDelete == 1 )
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415 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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420 * Used only by the idle task. This checks to see if anything has been placed
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421 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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422 * and its TCB deleted.
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424 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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427 * The currently executing task is entering the Blocked state. Add the task to
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428 * either the current or the overflow delayed task list.
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430 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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433 * Allocates memory from the heap for a TCB and associated stack. Checks the
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434 * allocation was successful.
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436 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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439 * Fills an xTaskStatusType structure with information on each task that is
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440 * referenced from the pxList list (which may be a ready list, a delayed list,
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441 * a suspended list, etc.).
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443 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
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444 * NORMAL APPLICATION CODE.
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446 #if ( configUSE_TRACE_FACILITY == 1 )
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448 static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
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453 * When a task is created, the stack of the task is filled with a known value.
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454 * This function determines the 'high water mark' of the task stack by
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455 * determining how much of the stack remains at the original preset value.
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457 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
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459 static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
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464 * Return the amount of time, in ticks, that will pass before the kernel will
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465 * next move a task from the Blocked state to the Running state.
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467 * This conditional compilation should use inequality to 0, not equality to 1.
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468 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
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469 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
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470 * set to a value other than 1.
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472 #if ( configUSE_TICKLESS_IDLE != 0 )
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474 static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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478 signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
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480 signed portBASE_TYPE xReturn;
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483 configASSERT( pxTaskCode );
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484 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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486 /* Allocate the memory required by the TCB and stack for the new task,
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487 checking that the allocation was successful. */
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488 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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490 if( pxNewTCB != NULL )
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492 portSTACK_TYPE *pxTopOfStack;
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494 #if( portUSING_MPU_WRAPPERS == 1 )
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495 /* Should the task be created in privileged mode? */
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496 portBASE_TYPE xRunPrivileged;
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497 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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499 xRunPrivileged = pdTRUE;
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503 xRunPrivileged = pdFALSE;
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505 uxPriority &= ~portPRIVILEGE_BIT;
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506 #endif /* portUSING_MPU_WRAPPERS == 1 */
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508 /* Calculate the top of stack address. This depends on whether the
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509 stack grows from high memory to low (as per the 80x86) or visa versa.
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510 portSTACK_GROWTH is used to make the result positive or negative as
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511 required by the port. */
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512 #if( portSTACK_GROWTH < 0 )
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514 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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515 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) ); /*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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517 /* Check the alignment of the calculated top of stack is correct. */
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518 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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520 #else /* portSTACK_GROWTH */
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522 pxTopOfStack = pxNewTCB->pxStack;
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524 /* Check the alignment of the stack buffer is correct. */
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525 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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527 /* If we want to use stack checking on architectures that use
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528 a positive stack growth direction then we also need to store the
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529 other extreme of the stack space. */
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530 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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532 #endif /* portSTACK_GROWTH */
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534 /* Setup the newly allocated TCB with the initial state of the task. */
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535 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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537 /* Initialize the TCB stack to look as if the task was already running,
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538 but had been interrupted by the scheduler. The return address is set
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539 to the start of the task function. Once the stack has been initialised
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540 the top of stack variable is updated. */
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541 #if( portUSING_MPU_WRAPPERS == 1 )
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543 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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545 #else /* portUSING_MPU_WRAPPERS */
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547 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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549 #endif /* portUSING_MPU_WRAPPERS */
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551 if( ( void * ) pxCreatedTask != NULL )
\r
553 /* Pass the TCB out - in an anonymous way. The calling function/
\r
554 task can use this as a handle to delete the task later if
\r
556 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
\r
559 /* Ensure interrupts don't access the task lists while they are being
\r
561 taskENTER_CRITICAL();
\r
563 uxCurrentNumberOfTasks++;
\r
564 if( pxCurrentTCB == NULL )
\r
566 /* There are no other tasks, or all the other tasks are in
\r
567 the suspended state - make this the current task. */
\r
568 pxCurrentTCB = pxNewTCB;
\r
570 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
572 /* This is the first task to be created so do the preliminary
\r
573 initialisation required. We will not recover if this call
\r
574 fails, but we will report the failure. */
\r
575 prvInitialiseTaskLists();
\r
580 /* If the scheduler is not already running, make this task the
\r
581 current task if it is the highest priority task to be created
\r
583 if( xSchedulerRunning == pdFALSE )
\r
585 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
587 pxCurrentTCB = pxNewTCB;
\r
594 #if ( configUSE_TRACE_FACILITY == 1 )
\r
596 /* Add a counter into the TCB for tracing only. */
\r
597 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
599 #endif /* configUSE_TRACE_FACILITY */
\r
600 traceTASK_CREATE( pxNewTCB );
\r
602 prvAddTaskToReadyList( pxNewTCB );
\r
605 portSETUP_TCB( pxNewTCB );
\r
607 taskEXIT_CRITICAL();
\r
611 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
612 traceTASK_CREATE_FAILED();
\r
615 if( xReturn == pdPASS )
\r
617 if( xSchedulerRunning != pdFALSE )
\r
619 /* If the created task is of a higher priority than the current task
\r
620 then it should run now. */
\r
621 if( pxCurrentTCB->uxPriority < uxPriority )
\r
623 portYIELD_WITHIN_API();
\r
630 /*-----------------------------------------------------------*/
\r
632 #if ( INCLUDE_vTaskDelete == 1 )
\r
634 void vTaskDelete( xTaskHandle xTaskToDelete )
\r
638 taskENTER_CRITICAL();
\r
640 /* If null is passed in here then we are deleting ourselves. */
\r
641 pxTCB = prvGetTCBFromHandle( xTaskToDelete );
\r
643 /* Remove task from the ready list and place in the termination list.
\r
644 This will stop the task from be scheduled. The idle task will check
\r
645 the termination list and free up any memory allocated by the
\r
646 scheduler for the TCB and stack. */
\r
647 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
649 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
652 /* Is the task waiting on an event also? */
\r
653 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
655 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
658 vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
660 /* Increment the ucTasksDeleted variable so the idle task knows
\r
661 there is a task that has been deleted and that it should therefore
\r
662 check the xTasksWaitingTermination list. */
\r
665 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
666 can detect that the task lists need re-generating. */
\r
669 traceTASK_DELETE( pxTCB );
\r
671 taskEXIT_CRITICAL();
\r
673 /* Force a reschedule if we have just deleted the current task. */
\r
674 if( xSchedulerRunning != pdFALSE )
\r
676 if( pxTCB == pxCurrentTCB )
\r
678 portYIELD_WITHIN_API();
\r
683 #endif /* INCLUDE_vTaskDelete */
\r
684 /*-----------------------------------------------------------*/
\r
686 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
688 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
690 portTickType xTimeToWake;
\r
691 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
693 configASSERT( pxPreviousWakeTime );
\r
694 configASSERT( ( xTimeIncrement > 0U ) );
\r
698 /* Minor optimisation. The tick count cannot change in this
\r
700 const portTickType xConstTickCount = xTickCount;
\r
702 /* Generate the tick time at which the task wants to wake. */
\r
703 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
705 if( xConstTickCount < *pxPreviousWakeTime )
\r
707 /* The tick count has overflowed since this function was
\r
708 lasted called. In this case the only time we should ever
\r
709 actually delay is if the wake time has also overflowed,
\r
710 and the wake time is greater than the tick time. When this
\r
711 is the case it is as if neither time had overflowed. */
\r
712 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
\r
714 xShouldDelay = pdTRUE;
\r
719 /* The tick time has not overflowed. In this case we will
\r
720 delay if either the wake time has overflowed, and/or the
\r
721 tick time is less than the wake time. */
\r
722 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
\r
724 xShouldDelay = pdTRUE;
\r
728 /* Update the wake time ready for the next call. */
\r
729 *pxPreviousWakeTime = xTimeToWake;
\r
731 if( xShouldDelay != pdFALSE )
\r
733 traceTASK_DELAY_UNTIL();
\r
735 /* We must remove ourselves from the ready list before adding
\r
736 ourselves to the blocked list as the same list item is used for
\r
738 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
740 /* The current task must be in a ready list, so there is
\r
741 no need to check, and the port reset macro can be called
\r
743 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
746 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
749 xAlreadyYielded = xTaskResumeAll();
\r
751 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
752 have put ourselves to sleep. */
\r
753 if( xAlreadyYielded == pdFALSE )
\r
755 portYIELD_WITHIN_API();
\r
759 #endif /* INCLUDE_vTaskDelayUntil */
\r
760 /*-----------------------------------------------------------*/
\r
762 #if ( INCLUDE_vTaskDelay == 1 )
\r
764 void vTaskDelay( portTickType xTicksToDelay )
\r
766 portTickType xTimeToWake;
\r
767 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
769 /* A delay time of zero just forces a reschedule. */
\r
770 if( xTicksToDelay > ( portTickType ) 0U )
\r
776 /* A task that is removed from the event list while the
\r
777 scheduler is suspended will not get placed in the ready
\r
778 list or removed from the blocked list until the scheduler
\r
781 This task cannot be in an event list as it is the currently
\r
784 /* Calculate the time to wake - this may overflow but this is
\r
786 xTimeToWake = xTickCount + xTicksToDelay;
\r
788 /* We must remove ourselves from the ready list before adding
\r
789 ourselves to the blocked list as the same list item is used for
\r
791 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
793 /* The current task must be in a ready list, so there is
\r
794 no need to check, and the port reset macro can be called
\r
796 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
798 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
800 xAlreadyYielded = xTaskResumeAll();
\r
803 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
804 have put ourselves to sleep. */
\r
805 if( xAlreadyYielded == pdFALSE )
\r
807 portYIELD_WITHIN_API();
\r
811 #endif /* INCLUDE_vTaskDelay */
\r
812 /*-----------------------------------------------------------*/
\r
814 #if ( INCLUDE_eTaskGetState == 1 )
\r
816 eTaskState eTaskGetState( xTaskHandle xTask )
\r
818 eTaskState eReturn;
\r
819 xList *pxStateList;
\r
820 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
822 if( pxTCB == pxCurrentTCB )
\r
824 /* The task calling this function is querying its own state. */
\r
825 eReturn = eRunning;
\r
829 taskENTER_CRITICAL();
\r
831 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
833 taskEXIT_CRITICAL();
\r
835 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
837 /* The task being queried is referenced from one of the Blocked
\r
839 eReturn = eBlocked;
\r
842 #if ( INCLUDE_vTaskSuspend == 1 )
\r
843 else if( pxStateList == &xSuspendedTaskList )
\r
845 /* The task being queried is referenced from the suspended
\r
847 eReturn = eSuspended;
\r
851 #if ( INCLUDE_vTaskDelete == 1 )
\r
852 else if( pxStateList == &xTasksWaitingTermination )
\r
854 /* The task being queried is referenced from the deleted
\r
856 eReturn = eDeleted;
\r
862 /* If the task is not in any other state, it must be in the
\r
863 Ready (including pending ready) state. */
\r
871 #endif /* INCLUDE_eTaskGetState */
\r
872 /*-----------------------------------------------------------*/
\r
874 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
876 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
\r
879 unsigned portBASE_TYPE uxReturn;
\r
881 taskENTER_CRITICAL();
\r
883 /* If null is passed in here then we are changing the
\r
884 priority of the calling function. */
\r
885 pxTCB = prvGetTCBFromHandle( xTask );
\r
886 uxReturn = pxTCB->uxPriority;
\r
888 taskEXIT_CRITICAL();
\r
893 #endif /* INCLUDE_uxTaskPriorityGet */
\r
894 /*-----------------------------------------------------------*/
\r
896 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
898 void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
\r
901 unsigned portBASE_TYPE uxCurrentBasePriority, uxPriorityUsedOnEntry;
\r
902 portBASE_TYPE xYieldRequired = pdFALSE;
\r
904 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
906 /* Ensure the new priority is valid. */
\r
907 if( uxNewPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
\r
909 uxNewPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
912 taskENTER_CRITICAL();
\r
914 /* If null is passed in here then it is the priority of the calling
\r
915 task that is being changed. */
\r
916 pxTCB = prvGetTCBFromHandle( xTask );
\r
918 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
920 #if ( configUSE_MUTEXES == 1 )
\r
922 uxCurrentBasePriority = pxTCB->uxBasePriority;
\r
926 uxCurrentBasePriority = pxTCB->uxPriority;
\r
930 if( uxCurrentBasePriority != uxNewPriority )
\r
932 /* The priority change may have readied a task of higher
\r
933 priority than the calling task. */
\r
934 if( uxNewPriority > uxCurrentBasePriority )
\r
936 if( pxTCB != pxCurrentTCB )
\r
938 /* The priority of a task other than the currently
\r
939 running task is being raised. Is the priority being
\r
940 raised above that of the running task? */
\r
941 if( uxNewPriority >= pxCurrentTCB->uxPriority )
\r
943 xYieldRequired = pdTRUE;
\r
948 /* The priority of the running task is being raised,
\r
949 but the running task must already be the highest
\r
950 priority task able to run so no yield is required. */
\r
953 else if( pxTCB == pxCurrentTCB )
\r
955 /* Setting the priority of the running task down means
\r
956 there may now be another task of higher priority that
\r
957 is ready to execute. */
\r
958 xYieldRequired = pdTRUE;
\r
962 /* Setting the priority of any other task down does not
\r
963 require a yield as the running task must be above the
\r
964 new priority of the task being modified. */
\r
967 /* Remember the ready list the task might be referenced from
\r
968 before its uxPriority member is changed so the
\r
969 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
970 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
972 #if ( configUSE_MUTEXES == 1 )
\r
974 /* Only change the priority being used if the task is not
\r
975 currently using an inherited priority. */
\r
976 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
978 pxTCB->uxPriority = uxNewPriority;
\r
981 /* The base priority gets set whatever. */
\r
982 pxTCB->uxBasePriority = uxNewPriority;
\r
986 pxTCB->uxPriority = uxNewPriority;
\r
990 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
992 /* If the task is in the blocked or suspended list we need do
\r
993 nothing more than change it's priority variable. However, if
\r
994 the task is in a ready list it needs to be removed and placed
\r
995 in the list appropriate to its new priority. */
\r
996 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
998 /* The task is currently in its ready list - remove before adding
\r
999 it to it's new ready list. As we are in a critical section we
\r
1000 can do this even if the scheduler is suspended. */
\r
1001 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1003 /* It is known that the task is in its ready list so
\r
1004 there is no need to check again and the port level
\r
1005 reset macro can be called directly. */
\r
1006 portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
\r
1008 prvAddTaskToReadyList( pxTCB );
\r
1011 if( xYieldRequired == pdTRUE )
\r
1013 portYIELD_WITHIN_API();
\r
1016 /* Remove compiler warning about unused variables when the port
\r
1017 optimised task selection is not being used. */
\r
1018 ( void ) uxPriorityUsedOnEntry;
\r
1021 taskEXIT_CRITICAL();
\r
1024 #endif /* INCLUDE_vTaskPrioritySet */
\r
1025 /*-----------------------------------------------------------*/
\r
1027 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1029 void vTaskSuspend( xTaskHandle xTaskToSuspend )
\r
1033 taskENTER_CRITICAL();
\r
1035 /* If null is passed in here then it is the running task that is
\r
1036 being suspended. */
\r
1037 pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
\r
1039 traceTASK_SUSPEND( pxTCB );
\r
1041 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
1042 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1044 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1047 /* Is the task waiting on an event also? */
\r
1048 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1050 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1053 vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1055 taskEXIT_CRITICAL();
\r
1057 if( pxTCB == pxCurrentTCB )
\r
1059 if( xSchedulerRunning != pdFALSE )
\r
1061 /* The current task has just been suspended. */
\r
1062 portYIELD_WITHIN_API();
\r
1066 /* The scheduler is not running, but the task that was pointed
\r
1067 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1068 must be adjusted to point to a different task. */
\r
1069 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1071 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1072 NULL so when the next task is created pxCurrentTCB will
\r
1073 be set to point to it no matter what its relative priority
\r
1075 pxCurrentTCB = NULL;
\r
1079 vTaskSwitchContext();
\r
1085 #endif /* INCLUDE_vTaskSuspend */
\r
1086 /*-----------------------------------------------------------*/
\r
1088 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1090 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
1092 portBASE_TYPE xReturn = pdFALSE;
\r
1093 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1095 /* It does not make sense to check if the calling task is suspended. */
\r
1096 configASSERT( xTask );
\r
1098 /* Is the task we are attempting to resume actually in the
\r
1099 suspended list? */
\r
1100 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1102 /* Has the task already been resumed from within an ISR? */
\r
1103 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
\r
1105 /* Is it in the suspended list because it is in the
\r
1106 Suspended state? It is possible to be in the suspended
\r
1107 list because it is blocked on a task with no timeout
\r
1109 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
\r
1117 } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
\r
1119 #endif /* INCLUDE_vTaskSuspend */
\r
1120 /*-----------------------------------------------------------*/
\r
1122 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1124 void vTaskResume( xTaskHandle xTaskToResume )
\r
1126 tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
\r
1128 /* It does not make sense to resume the calling task. */
\r
1129 configASSERT( xTaskToResume );
\r
1131 /* The parameter cannot be NULL as it is impossible to resume the
\r
1132 currently executing task. */
\r
1133 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1135 taskENTER_CRITICAL();
\r
1137 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1139 traceTASK_RESUME( pxTCB );
\r
1141 /* As we are in a critical section we can access the ready
\r
1142 lists even if the scheduler is suspended. */
\r
1143 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1144 prvAddTaskToReadyList( pxTCB );
\r
1146 /* We may have just resumed a higher priority task. */
\r
1147 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1149 /* This yield may not cause the task just resumed to run, but
\r
1150 will leave the lists in the correct state for the next yield. */
\r
1151 portYIELD_WITHIN_API();
\r
1155 taskEXIT_CRITICAL();
\r
1159 #endif /* INCLUDE_vTaskSuspend */
\r
1161 /*-----------------------------------------------------------*/
\r
1163 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1165 portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
\r
1167 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1168 tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
\r
1169 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1171 configASSERT( xTaskToResume );
\r
1173 /* RTOS ports that support interrupt nesting have the concept of a
\r
1174 maximum system call (or maximum API call) interrupt priority.
\r
1175 Interrupts that are above the maximum system call priority are keep
\r
1176 permanently enabled, even when the RTOS kernel is in a critical section,
\r
1177 but cannot make any calls to FreeRTOS API functions. If configASSERT()
\r
1178 is defined in FreeRTOSConfig.h then
\r
1179 portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1180 failure if a FreeRTOS API function is called from an interrupt that has
\r
1181 been assigned a priority above the configured maximum system call
\r
1182 priority. Only FreeRTOS functions that end in FromISR can be called
\r
1183 from interrupts that have been assigned a priority at or (logically)
\r
1184 below the maximum system call interrupt priority. FreeRTOS maintains a
\r
1185 separate interrupt safe API to ensure interrupt entry is as fast and as
\r
1186 simple as possible. More information (albeit Cortex-M specific) is
\r
1187 provided on the following link:
\r
1188 http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1189 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1191 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1193 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1195 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1197 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1199 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1200 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1201 prvAddTaskToReadyList( pxTCB );
\r
1205 /* We cannot access the delayed or ready lists, so will hold this
\r
1206 task pending until the scheduler is resumed, at which point a
\r
1207 yield will be performed if necessary. */
\r
1208 vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1212 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1214 return xYieldRequired;
\r
1217 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
\r
1218 /*-----------------------------------------------------------*/
\r
1220 void vTaskStartScheduler( void )
\r
1222 portBASE_TYPE xReturn;
\r
1224 /* Add the idle task at the lowest priority. */
\r
1225 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1227 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1228 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1229 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
1233 /* Create the idle task without storing its handle. */
\r
1234 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
1236 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1238 #if ( configUSE_TIMERS == 1 )
\r
1240 if( xReturn == pdPASS )
\r
1242 xReturn = xTimerCreateTimerTask();
\r
1245 #endif /* configUSE_TIMERS */
\r
1247 if( xReturn == pdPASS )
\r
1249 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1250 before or during the call to xPortStartScheduler(). The stacks of
\r
1251 the created tasks contain a status word with interrupts switched on
\r
1252 so interrupts will automatically get re-enabled when the first task
\r
1255 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1256 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1257 portDISABLE_INTERRUPTS();
\r
1259 xSchedulerRunning = pdTRUE;
\r
1260 xTickCount = ( portTickType ) 0U;
\r
1262 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1263 macro must be defined to configure the timer/counter used to generate
\r
1264 the run time counter time base. */
\r
1265 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1267 /* Setting up the timer tick is hardware specific and thus in the
\r
1268 portable interface. */
\r
1269 if( xPortStartScheduler() != pdFALSE )
\r
1271 /* Should not reach here as if the scheduler is running the
\r
1272 function will not return. */
\r
1276 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1281 /* This line will only be reached if the kernel could not be started,
\r
1282 because there was not enough FreeRTOS heap to create the idle task
\r
1283 or the timer task. */
\r
1284 configASSERT( xReturn );
\r
1287 /*-----------------------------------------------------------*/
\r
1289 void vTaskEndScheduler( void )
\r
1291 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1292 routine so the original ISRs can be restored if necessary. The port
\r
1293 layer must ensure interrupts enable bit is left in the correct state. */
\r
1294 portDISABLE_INTERRUPTS();
\r
1295 xSchedulerRunning = pdFALSE;
\r
1296 vPortEndScheduler();
\r
1298 /*----------------------------------------------------------*/
\r
1300 void vTaskSuspendAll( void )
\r
1302 /* A critical section is not required as the variable is of type
\r
1304 ++uxSchedulerSuspended;
\r
1306 /*----------------------------------------------------------*/
\r
1308 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1310 static portTickType prvGetExpectedIdleTime( void )
\r
1312 portTickType xReturn;
\r
1314 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1318 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1320 /* There are other idle priority tasks in the ready state. If
\r
1321 time slicing is used then the very next tick interrupt must be
\r
1327 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1333 #endif /* configUSE_TICKLESS_IDLE */
\r
1334 /*----------------------------------------------------------*/
\r
1336 signed portBASE_TYPE xTaskResumeAll( void )
\r
1339 portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1340 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1342 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1343 previous call to vTaskSuspendAll(). */
\r
1344 configASSERT( uxSchedulerSuspended );
\r
1346 /* It is possible that an ISR caused a task to be removed from an event
\r
1347 list while the scheduler was suspended. If this was the case then the
\r
1348 removed task will have been added to the xPendingReadyList. Once the
\r
1349 scheduler has been resumed it is safe to move all the pending ready
\r
1350 tasks from this list into their appropriate ready list. */
\r
1351 taskENTER_CRITICAL();
\r
1353 --uxSchedulerSuspended;
\r
1355 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1357 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1359 /* Move any readied tasks from the pending list into the
\r
1360 appropriate ready list. */
\r
1361 while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
\r
1363 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
\r
1364 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1365 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1366 prvAddTaskToReadyList( pxTCB );
\r
1368 /* If we have moved a task that has a priority higher than
\r
1369 the current task then we should yield. */
\r
1370 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1372 xYieldRequired = pdTRUE;
\r
1376 /* If any ticks occurred while the scheduler was suspended then
\r
1377 they should be processed now. This ensures the tick count does not
\r
1378 slip, and that any delayed tasks are resumed at the correct time. */
\r
1379 if( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1381 while( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1383 if( xTaskIncrementTick() != pdFALSE )
\r
1385 xYieldRequired = pdTRUE;
\r
1391 if( ( xYieldRequired == pdTRUE ) || ( xYieldPending == pdTRUE ) )
\r
1393 xAlreadyYielded = pdTRUE;
\r
1394 xYieldPending = pdFALSE;
\r
1395 portYIELD_WITHIN_API();
\r
1400 taskEXIT_CRITICAL();
\r
1402 return xAlreadyYielded;
\r
1404 /*-----------------------------------------------------------*/
\r
1406 portTickType xTaskGetTickCount( void )
\r
1408 portTickType xTicks;
\r
1410 /* Critical section required if running on a 16 bit processor. */
\r
1411 taskENTER_CRITICAL();
\r
1413 xTicks = xTickCount;
\r
1415 taskEXIT_CRITICAL();
\r
1419 /*-----------------------------------------------------------*/
\r
1421 portTickType xTaskGetTickCountFromISR( void )
\r
1423 portTickType xReturn;
\r
1424 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1426 /* RTOS ports that support interrupt nesting have the concept of a maximum
\r
1427 system call (or maximum API call) interrupt priority. Interrupts that are
\r
1428 above the maximum system call priority are keep permanently enabled, even
\r
1429 when the RTOS kernel is in a critical section, but cannot make any calls to
\r
1430 FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
\r
1431 then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
\r
1432 failure if a FreeRTOS API function is called from an interrupt that has been
\r
1433 assigned a priority above the configured maximum system call priority.
\r
1434 Only FreeRTOS functions that end in FromISR can be called from interrupts
\r
1435 that have been assigned a priority at or (logically) below the maximum
\r
1436 system call interrupt priority. FreeRTOS maintains a separate interrupt
\r
1437 safe API to ensure interrupt entry is as fast and as simple as possible.
\r
1438 More information (albeit Cortex-M specific) is provided on the following
\r
1439 link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
\r
1440 portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
\r
1442 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1443 xReturn = xTickCount;
\r
1444 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1448 /*-----------------------------------------------------------*/
\r
1450 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1452 /* A critical section is not required because the variables are of type
\r
1454 return uxCurrentNumberOfTasks;
\r
1456 /*-----------------------------------------------------------*/
\r
1458 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1460 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1464 /* If null is passed in here then the name of the calling task is being queried. */
\r
1465 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1466 configASSERT( pxTCB );
\r
1467 return &( pxTCB->pcTaskName[ 0 ] );
\r
1470 #endif /* INCLUDE_pcTaskGetTaskName */
\r
1471 /*-----------------------------------------------------------*/
\r
1473 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1475 unsigned portBASE_TYPE uxTaskGetSystemState( xTaskStatusType *pxTaskStatusArray, unsigned portBASE_TYPE uxArraySize, unsigned long *pulTotalRunTime )
\r
1477 unsigned portBASE_TYPE uxTask = 0, uxQueue = configMAX_PRIORITIES;
\r
1479 vTaskSuspendAll();
\r
1481 /* Is there a space in the array for each task in the system? */
\r
1482 if( uxArraySize >= uxCurrentNumberOfTasks )
\r
1484 /* Fill in an xTaskStatusType structure with information on each
\r
1485 task in the Ready state. */
\r
1489 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
\r
1491 } while( uxQueue > ( unsigned portBASE_TYPE ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
\r
1493 /* Fill in an xTaskStatusType structure with information on each
\r
1494 task in the Blocked state. */
\r
1495 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxDelayedTaskList, eBlocked );
\r
1496 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxOverflowDelayedTaskList, eBlocked );
\r
1498 #if( INCLUDE_vTaskDelete == 1 )
\r
1500 /* Fill in an xTaskStatusType structure with information on
\r
1501 each task that has been deleted but not yet cleaned up. */
\r
1502 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
\r
1506 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1508 /* Fill in an xTaskStatusType structure with information on
\r
1509 each task in the Suspended state. */
\r
1510 uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
\r
1514 #if ( configGENERATE_RUN_TIME_STATS == 1)
\r
1516 if( pulTotalRunTime != NULL )
\r
1518 *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1523 if( pulTotalRunTime != NULL )
\r
1525 *pulTotalRunTime = 0;
\r
1531 ( void ) xTaskResumeAll();
\r
1536 #endif /* configUSE_TRACE_FACILITY */
\r
1537 /*----------------------------------------------------------*/
\r
1539 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1541 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1543 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1544 started, then xIdleTaskHandle will be NULL. */
\r
1545 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1546 return xIdleTaskHandle;
\r
1549 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
\r
1550 /*----------------------------------------------------------*/
\r
1552 /* This conditional compilation should use inequality to 0, not equality to 1.
\r
1553 This is to ensure vTaskStepTick() is available when user defined low power mode
\r
1554 implementations require configUSE_TICKLESS_IDLE to be set to a value other than
\r
1556 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
1558 void vTaskStepTick( portTickType xTicksToJump )
\r
1560 /* Correct the tick count value after a period during which the tick
\r
1561 was suppressed. Note this does *not* call the tick hook function for
\r
1562 each stepped tick. */
\r
1563 configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
\r
1564 xTickCount += xTicksToJump;
\r
1565 traceINCREASE_TICK_COUNT( xTicksToJump );
\r
1568 #endif /* configUSE_TICKLESS_IDLE */
\r
1569 /*----------------------------------------------------------*/
\r
1571 portBASE_TYPE xTaskIncrementTick( void )
\r
1574 portTickType xItemValue;
\r
1575 portBASE_TYPE xSwitchRequired = pdFALSE;
\r
1577 /* Called by the portable layer each time a tick interrupt occurs.
\r
1578 Increments the tick then checks to see if the new tick value will cause any
\r
1579 tasks to be unblocked. */
\r
1580 traceTASK_INCREMENT_TICK( xTickCount );
\r
1581 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1583 /* Increment the RTOS tick, switching the delayed and overflowed
\r
1584 delayed lists if it wraps to 0. */
\r
1588 /* Minor optimisation. The tick count cannot change in this
\r
1590 const portTickType xConstTickCount = xTickCount;
\r
1592 if( xConstTickCount == ( portTickType ) 0U )
\r
1594 taskSWITCH_DELAYED_LISTS();
\r
1597 /* See if this tick has made a timeout expire. Tasks are stored in the
\r
1598 queue in the order of their wake time - meaning once one tasks has been
\r
1599 found whose block time has not expired there is no need not look any
\r
1600 further down the list. */
\r
1601 if( xConstTickCount >= xNextTaskUnblockTime )
\r
1605 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1607 /* The delayed list is empty. Set xNextTaskUnblockTime to
\r
1608 the maximum possible value so it is extremely unlikely that
\r
1609 the if( xTickCount >= xNextTaskUnblockTime ) test will pass
\r
1610 next time through. */
\r
1611 xNextTaskUnblockTime = portMAX_DELAY;
\r
1616 /* The delayed list is not empty, get the value of the item
\r
1617 at the head of the delayed list. This is the time at which
\r
1618 the task at the head of the delayed list must be removed
\r
1619 from the Blocked state. */
\r
1620 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1621 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1623 if( xConstTickCount < xItemValue )
\r
1625 /* It is not time to unblock this item yet, but the item
\r
1626 value is the time at which the task at the head of the
\r
1627 blocked list must be removed from the Blocked state -
\r
1628 so record the item value in xNextTaskUnblockTime. */
\r
1629 xNextTaskUnblockTime = xItemValue;
\r
1633 /* It is time to remove the item from the Blocked state. */
\r
1634 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1636 /* Is the task waiting on an event also? If so remove it
\r
1637 from the event list. */
\r
1638 if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
\r
1640 ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
\r
1643 /* Place the unblocked task into the appropriate ready
\r
1645 prvAddTaskToReadyList( pxTCB );
\r
1647 /* A task being unblocked cannot cause an immediate context
\r
1648 switch if preemption is turned off. */
\r
1649 #if ( configUSE_PREEMPTION == 1 )
\r
1651 /* Preemption is on, but a context switch should only
\r
1652 be performed if the unblocked task has a priority that
\r
1653 is equal to or higher than the currently executing
\r
1655 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1657 xSwitchRequired = pdTRUE;
\r
1660 #endif /* configUSE_PREEMPTION */
\r
1666 /* Tasks of equal priority to the currently running task will share
\r
1667 processing time (time slice) if preemption is on, and the application
\r
1668 writer has not explicitly turned time slicing off. */
\r
1669 #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
\r
1671 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
1673 xSwitchRequired = pdTRUE;
\r
1676 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
\r
1682 /* The tick hook gets called at regular intervals, even if the
\r
1683 scheduler is locked. */
\r
1684 #if ( configUSE_TICK_HOOK == 1 )
\r
1686 vApplicationTickHook();
\r
1691 #if ( configUSE_TICK_HOOK == 1 )
\r
1693 /* Guard against the tick hook being called when the missed tick
\r
1694 count is being unwound (when the scheduler is being unlocked). */
\r
1695 if( uxPendedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1697 vApplicationTickHook();
\r
1700 #endif /* configUSE_TICK_HOOK */
\r
1702 return xSwitchRequired;
\r
1704 /*-----------------------------------------------------------*/
\r
1706 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1708 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1712 /* If xTask is NULL then we are setting our own task hook. */
\r
1713 if( xTask == NULL )
\r
1715 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1719 xTCB = ( tskTCB * ) xTask;
\r
1722 /* Save the hook function in the TCB. A critical section is required as
\r
1723 the value can be accessed from an interrupt. */
\r
1724 taskENTER_CRITICAL();
\r
1725 xTCB->pxTaskTag = pxHookFunction;
\r
1726 taskEXIT_CRITICAL();
\r
1729 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1730 /*-----------------------------------------------------------*/
\r
1732 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1734 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1737 pdTASK_HOOK_CODE xReturn;
\r
1739 /* If xTask is NULL then we are setting our own task hook. */
\r
1740 if( xTask == NULL )
\r
1742 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1746 xTCB = ( tskTCB * ) xTask;
\r
1749 /* Save the hook function in the TCB. A critical section is required as
\r
1750 the value can be accessed from an interrupt. */
\r
1751 taskENTER_CRITICAL();
\r
1752 xReturn = xTCB->pxTaskTag;
\r
1753 taskEXIT_CRITICAL();
\r
1758 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1759 /*-----------------------------------------------------------*/
\r
1761 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1763 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1766 portBASE_TYPE xReturn;
\r
1768 /* If xTask is NULL then we are calling our own task hook. */
\r
1769 if( xTask == NULL )
\r
1771 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1775 xTCB = ( tskTCB * ) xTask;
\r
1778 if( xTCB->pxTaskTag != NULL )
\r
1780 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1790 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
1791 /*-----------------------------------------------------------*/
\r
1793 void vTaskSwitchContext( void )
\r
1795 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1797 /* The scheduler is currently suspended - do not allow a context
\r
1799 xYieldPending = pdTRUE;
\r
1803 traceTASK_SWITCHED_OUT();
\r
1805 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1807 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1808 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1810 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1813 /* Add the amount of time the task has been running to the
\r
1814 accumulated time so far. The time the task started running was
\r
1815 stored in ulTaskSwitchedInTime. Note that there is no overflow
\r
1816 protection here so count values are only valid until the timer
\r
1817 overflows. The guard against negative values is to protect
\r
1818 against suspect run time stat counter implementations - which
\r
1819 are provided by the application, not the kernel. */
\r
1820 if( ulTotalRunTime > ulTaskSwitchedInTime )
\r
1822 pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
\r
1824 ulTaskSwitchedInTime = ulTotalRunTime;
\r
1826 #endif /* configGENERATE_RUN_TIME_STATS */
\r
1828 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1829 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1831 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
1833 traceTASK_SWITCHED_IN();
\r
1835 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
1837 /* Switch Newlib's _impure_ptr variable to point to the _reent
\r
1838 structure specific to this task. */
\r
1839 _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
\r
1841 #endif /* configUSE_NEWLIB_REENTRANT */
\r
1844 /*-----------------------------------------------------------*/
\r
1846 void vTaskPlaceOnEventList( xList * const pxEventList, portTickType xTicksToWait )
\r
1848 portTickType xTimeToWake;
\r
1850 configASSERT( pxEventList );
\r
1852 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1853 SCHEDULER SUSPENDED. */
\r
1855 /* Place the event list item of the TCB in the appropriate event list.
\r
1856 This is placed in the list in priority order so the highest priority task
\r
1857 is the first to be woken by the event. */
\r
1858 vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
1860 /* We must remove ourselves from the ready list before adding ourselves
\r
1861 to the blocked list as the same list item is used for both lists. We have
\r
1862 exclusive access to the ready lists as the scheduler is locked. */
\r
1863 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1865 /* The current task must be in a ready list, so there is no need to
\r
1866 check, and the port reset macro can be called directly. */
\r
1867 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1870 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1872 if( xTicksToWait == portMAX_DELAY )
\r
1874 /* Add ourselves to the suspended task list instead of a delayed task
\r
1875 list to ensure we are not woken by a timing event. We will block
\r
1877 vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
1881 /* Calculate the time at which the task should be woken if the event does
\r
1882 not occur. This may overflow but this doesn't matter. */
\r
1883 xTimeToWake = xTickCount + xTicksToWait;
\r
1884 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1887 #else /* INCLUDE_vTaskSuspend */
\r
1889 /* Calculate the time at which the task should be woken if the event does
\r
1890 not occur. This may overflow but this doesn't matter. */
\r
1891 xTimeToWake = xTickCount + xTicksToWait;
\r
1892 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1894 #endif /* INCLUDE_vTaskSuspend */
\r
1896 /*-----------------------------------------------------------*/
\r
1898 #if configUSE_TIMERS == 1
\r
1900 void vTaskPlaceOnEventListRestricted( xList * const pxEventList, portTickType xTicksToWait )
\r
1902 portTickType xTimeToWake;
\r
1904 configASSERT( pxEventList );
\r
1906 /* This function should not be called by application code hence the
\r
1907 'Restricted' in its name. It is not part of the public API. It is
\r
1908 designed for use by kernel code, and has special calling requirements -
\r
1909 it should be called from a critical section. */
\r
1912 /* Place the event list item of the TCB in the appropriate event list.
\r
1913 In this case it is assume that this is the only task that is going to
\r
1914 be waiting on this event list, so the faster vListInsertEnd() function
\r
1915 can be used in place of vListInsert. */
\r
1916 vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
\r
1918 /* We must remove this task from the ready list before adding it to the
\r
1919 blocked list as the same list item is used for both lists. This
\r
1920 function is called form a critical section. */
\r
1921 if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
1923 /* The current task must be in a ready list, so there is no need to
\r
1924 check, and the port reset macro can be called directly. */
\r
1925 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1928 /* Calculate the time at which the task should be woken if the event does
\r
1929 not occur. This may overflow but this doesn't matter. */
\r
1930 xTimeToWake = xTickCount + xTicksToWait;
\r
1932 traceTASK_DELAY_UNTIL();
\r
1933 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1936 #endif /* configUSE_TIMERS */
\r
1937 /*-----------------------------------------------------------*/
\r
1939 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1941 tskTCB *pxUnblockedTCB;
\r
1942 portBASE_TYPE xReturn;
\r
1944 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1945 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1947 /* The event list is sorted in priority order, so we can remove the
\r
1948 first in the list, remove the TCB from the delayed list, and add
\r
1949 it to the ready list.
\r
1951 If an event is for a queue that is locked then this function will never
\r
1952 get called - the lock count on the queue will get modified instead. This
\r
1953 means we can always expect exclusive access to the event list here.
\r
1955 This function assumes that a check has already been made to ensure that
\r
1956 pxEventList is not empty. */
\r
1957 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1958 configASSERT( pxUnblockedTCB );
\r
1959 ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1961 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1963 ( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1964 prvAddTaskToReadyList( pxUnblockedTCB );
\r
1968 /* We cannot access the delayed or ready lists, so will hold this
\r
1969 task pending until the scheduler is resumed. */
\r
1970 vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1973 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1975 /* Return true if the task removed from the event list has
\r
1976 a higher priority than the calling task. This allows
\r
1977 the calling task to know if it should force a context
\r
1983 xReturn = pdFALSE;
\r
1988 /*-----------------------------------------------------------*/
\r
1990 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1992 configASSERT( pxTimeOut );
\r
1993 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1994 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1996 /*-----------------------------------------------------------*/
\r
1998 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
2000 portBASE_TYPE xReturn;
\r
2002 configASSERT( pxTimeOut );
\r
2003 configASSERT( pxTicksToWait );
\r
2005 taskENTER_CRITICAL();
\r
2007 /* Minor optimisation. The tick count cannot change in this block. */
\r
2008 const portTickType xConstTickCount = xTickCount;
\r
2010 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2011 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2012 the maximum block time then the task should block indefinitely, and
\r
2013 therefore never time out. */
\r
2014 if( *pxTicksToWait == portMAX_DELAY )
\r
2016 xReturn = pdFALSE;
\r
2018 else /* We are not blocking indefinitely, perform the checks below. */
\r
2021 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
\r
2023 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2024 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2025 It must have wrapped all the way around and gone past us again. This
\r
2026 passed since vTaskSetTimeout() was called. */
\r
2029 else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
\r
2031 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2032 *pxTicksToWait -= ( xConstTickCount - pxTimeOut->xTimeOnEntering );
\r
2033 vTaskSetTimeOutState( pxTimeOut );
\r
2034 xReturn = pdFALSE;
\r
2041 taskEXIT_CRITICAL();
\r
2045 /*-----------------------------------------------------------*/
\r
2047 void vTaskMissedYield( void )
\r
2049 xYieldPending = pdTRUE;
\r
2051 /*-----------------------------------------------------------*/
\r
2053 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2055 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
2057 unsigned portBASE_TYPE uxReturn;
\r
2060 if( xTask != NULL )
\r
2062 pxTCB = ( tskTCB * ) xTask;
\r
2063 uxReturn = pxTCB->uxTaskNumber;
\r
2073 #endif /* configUSE_TRACE_FACILITY */
\r
2074 /*-----------------------------------------------------------*/
\r
2076 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2078 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
2082 if( xTask != NULL )
\r
2084 pxTCB = ( tskTCB * ) xTask;
\r
2085 pxTCB->uxTaskNumber = uxHandle;
\r
2089 #endif /* configUSE_TRACE_FACILITY */
\r
2092 * -----------------------------------------------------------
\r
2094 * ----------------------------------------------------------
\r
2096 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2097 * language extensions. The equivalent prototype for this function is:
\r
2099 * void prvIdleTask( void *pvParameters );
\r
2102 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2104 /* Stop warnings. */
\r
2105 ( void ) pvParameters;
\r
2109 /* See if any tasks have been deleted. */
\r
2110 prvCheckTasksWaitingTermination();
\r
2112 #if ( configUSE_PREEMPTION == 0 )
\r
2114 /* If we are not using preemption we keep forcing a task switch to
\r
2115 see if any other task has become available. If we are using
\r
2116 preemption we don't need to do this as any task becoming available
\r
2117 will automatically get the processor anyway. */
\r
2120 #endif /* configUSE_PREEMPTION */
\r
2122 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2124 /* When using preemption tasks of equal priority will be
\r
2125 timesliced. If a task that is sharing the idle priority is ready
\r
2126 to run then the idle task should yield before the end of the
\r
2129 A critical region is not required here as we are just reading from
\r
2130 the list, and an occasional incorrect value will not matter. If
\r
2131 the ready list at the idle priority contains more than one task
\r
2132 then a task other than the idle task is ready to execute. */
\r
2133 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2138 #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
\r
2140 #if ( configUSE_IDLE_HOOK == 1 )
\r
2142 extern void vApplicationIdleHook( void );
\r
2144 /* Call the user defined function from within the idle task. This
\r
2145 allows the application designer to add background functionality
\r
2146 without the overhead of a separate task.
\r
2147 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2148 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2149 vApplicationIdleHook();
\r
2151 #endif /* configUSE_IDLE_HOOK */
\r
2153 /* This conditional compilation should use inequality to 0, not equality
\r
2154 to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
\r
2155 user defined low power mode implementations require
\r
2156 configUSE_TICKLESS_IDLE to be set to a value other than 1. */
\r
2157 #if ( configUSE_TICKLESS_IDLE != 0 )
\r
2159 portTickType xExpectedIdleTime;
\r
2161 /* It is not desirable to suspend then resume the scheduler on
\r
2162 each iteration of the idle task. Therefore, a preliminary
\r
2163 test of the expected idle time is performed without the
\r
2164 scheduler suspended. The result here is not necessarily
\r
2166 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2168 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2170 vTaskSuspendAll();
\r
2172 /* Now the scheduler is suspended, the expected idle
\r
2173 time can be sampled again, and this time its value can
\r
2175 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2176 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2178 if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
\r
2180 traceLOW_POWER_IDLE_BEGIN();
\r
2181 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2182 traceLOW_POWER_IDLE_END();
\r
2185 ( void ) xTaskResumeAll();
\r
2188 #endif /* configUSE_TICKLESS_IDLE */
\r
2191 /*-----------------------------------------------------------*/
\r
2193 #if configUSE_TICKLESS_IDLE != 0
\r
2195 eSleepModeStatus eTaskConfirmSleepModeStatus( void )
\r
2197 eSleepModeStatus eReturn = eStandardSleep;
\r
2199 if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
\r
2201 /* A task was made ready while the scheduler was suspended. */
\r
2202 eReturn = eAbortSleep;
\r
2204 else if( xYieldPending != pdFALSE )
\r
2206 /* A yield was pended while the scheduler was suspended. */
\r
2207 eReturn = eAbortSleep;
\r
2211 #if configUSE_TIMERS == 0
\r
2213 /* The idle task exists in addition to the application tasks. */
\r
2214 const unsigned portBASE_TYPE uxNonApplicationTasks = 1;
\r
2216 /* If timers are not being used and all the tasks are in the
\r
2217 suspended list (which might mean they have an infinite block
\r
2218 time rather than actually being suspended) then it is safe to
\r
2219 turn all clocks off and just wait for external interrupts. */
\r
2220 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
\r
2222 eReturn = eNoTasksWaitingTimeout;
\r
2225 #endif /* configUSE_TIMERS */
\r
2230 #endif /* configUSE_TICKLESS_IDLE */
\r
2231 /*-----------------------------------------------------------*/
\r
2233 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2235 unsigned portBASE_TYPE x;
\r
2237 /* Store the task name in the TCB. */
\r
2238 for( x = ( unsigned portBASE_TYPE ) 0; x < ( unsigned portBASE_TYPE ) configMAX_TASK_NAME_LEN; x++ )
\r
2240 pxTCB->pcTaskName[ x ] = pcName[ x ];
\r
2242 /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
\r
2243 configMAX_TASK_NAME_LEN characters just in case the memory after the
\r
2244 string is not accessible (extremely unlikely). */
\r
2245 if( pcName[ x ] == 0x00 )
\r
2251 /* Ensure the name string is terminated in the case that the string length
\r
2252 was greater or equal to configMAX_TASK_NAME_LEN. */
\r
2253 pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = ( signed char ) '\0';
\r
2255 /* This is used as an array index so must ensure it's not too large. First
\r
2256 remove the privilege bit if one is present. */
\r
2257 if( uxPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
\r
2259 uxPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2262 pxTCB->uxPriority = uxPriority;
\r
2263 #if ( configUSE_MUTEXES == 1 )
\r
2265 pxTCB->uxBasePriority = uxPriority;
\r
2267 #endif /* configUSE_MUTEXES */
\r
2269 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2270 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2272 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2273 back to the containing TCB from a generic item in a list. */
\r
2274 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2276 /* Event lists are always in priority order. */
\r
2277 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
2278 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2280 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2282 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2284 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2286 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2288 pxTCB->pxTaskTag = NULL;
\r
2290 #endif /* configUSE_APPLICATION_TASK_TAG */
\r
2292 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2294 pxTCB->ulRunTimeCounter = 0UL;
\r
2296 #endif /* configGENERATE_RUN_TIME_STATS */
\r
2298 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2300 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2302 #else /* portUSING_MPU_WRAPPERS */
\r
2304 ( void ) xRegions;
\r
2305 ( void ) usStackDepth;
\r
2307 #endif /* portUSING_MPU_WRAPPERS */
\r
2309 #if ( configUSE_NEWLIB_REENTRANT == 1 )
\r
2311 /* Initialise this task's Newlib reent structure. */
\r
2312 _REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
\r
2314 #endif /* configUSE_NEWLIB_REENTRANT */
\r
2316 /*-----------------------------------------------------------*/
\r
2318 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2320 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2324 /* If null is passed in here then we are deleting ourselves. */
\r
2325 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2327 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2330 #endif /* portUSING_MPU_WRAPPERS */
\r
2331 /*-----------------------------------------------------------*/
\r
2333 static void prvInitialiseTaskLists( void )
\r
2335 unsigned portBASE_TYPE uxPriority;
\r
2337 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < ( unsigned portBASE_TYPE ) configMAX_PRIORITIES; uxPriority++ )
\r
2339 vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
\r
2342 vListInitialise( &xDelayedTaskList1 );
\r
2343 vListInitialise( &xDelayedTaskList2 );
\r
2344 vListInitialise( &xPendingReadyList );
\r
2346 #if ( INCLUDE_vTaskDelete == 1 )
\r
2348 vListInitialise( &xTasksWaitingTermination );
\r
2350 #endif /* INCLUDE_vTaskDelete */
\r
2352 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2354 vListInitialise( &xSuspendedTaskList );
\r
2356 #endif /* INCLUDE_vTaskSuspend */
\r
2358 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2360 pxDelayedTaskList = &xDelayedTaskList1;
\r
2361 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2363 /*-----------------------------------------------------------*/
\r
2365 static void prvCheckTasksWaitingTermination( void )
\r
2367 #if ( INCLUDE_vTaskDelete == 1 )
\r
2369 portBASE_TYPE xListIsEmpty;
\r
2371 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2372 too often in the idle task. */
\r
2373 while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2375 vTaskSuspendAll();
\r
2376 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2377 ( void ) xTaskResumeAll();
\r
2379 if( xListIsEmpty == pdFALSE )
\r
2383 taskENTER_CRITICAL();
\r
2385 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
\r
2386 ( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2387 --uxCurrentNumberOfTasks;
\r
2390 taskEXIT_CRITICAL();
\r
2392 prvDeleteTCB( pxTCB );
\r
2396 #endif /* vTaskDelete */
\r
2398 /*-----------------------------------------------------------*/
\r
2400 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2402 /* The list item will be inserted in wake time order. */
\r
2403 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2405 if( xTimeToWake < xTickCount )
\r
2407 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2408 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2412 /* The wake time has not overflowed, so we can use the current block list. */
\r
2413 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
\r
2415 /* If the task entering the blocked state was placed at the head of the
\r
2416 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2418 if( xTimeToWake < xNextTaskUnblockTime )
\r
2420 xNextTaskUnblockTime = xTimeToWake;
\r
2424 /*-----------------------------------------------------------*/
\r
2426 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2430 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2431 the implementation of the port malloc function. */
\r
2432 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2434 if( pxNewTCB != NULL )
\r
2436 /* Allocate space for the stack used by the task being created.
\r
2437 The base of the stack memory stored in the TCB so the task can
\r
2438 be deleted later if required. */
\r
2439 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
2441 if( pxNewTCB->pxStack == NULL )
\r
2443 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2444 vPortFree( pxNewTCB );
\r
2449 /* Just to help debugging. */
\r
2450 ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2456 /*-----------------------------------------------------------*/
\r
2458 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2460 static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState )
\r
2462 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2463 unsigned portBASE_TYPE uxTask = 0;
\r
2465 if( listCURRENT_LIST_LENGTH( pxList ) > ( unsigned portBASE_TYPE ) 0 )
\r
2467 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2469 /* Populate an xTaskStatusType structure within the
\r
2470 pxTaskStatusArray array for each task that is referenced from
\r
2471 pxList. See the definition of xTaskStatusType in task.h for the
\r
2472 meaning of each xTaskStatusType structure member. */
\r
2475 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2477 pxTaskStatusArray[ uxTask ].xHandle = ( xTaskHandle ) pxNextTCB;
\r
2478 pxTaskStatusArray[ uxTask ].pcTaskName = ( const signed char * ) &( pxNextTCB->pcTaskName [ 0 ] );
\r
2479 pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
\r
2480 pxTaskStatusArray[ uxTask ].eCurrentState = eState;
\r
2481 pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
\r
2483 #if ( configUSE_MUTEXES == 1 )
\r
2485 pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
\r
2489 pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
\r
2493 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2495 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
\r
2499 pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
\r
2503 #if ( portSTACK_GROWTH > 0 )
\r
2505 ppxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2509 pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2515 } while( pxNextTCB != pxFirstTCB );
\r
2521 #endif /* configUSE_TRACE_FACILITY */
\r
2522 /*-----------------------------------------------------------*/
\r
2524 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2526 static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2528 register unsigned short usCount = 0U;
\r
2530 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2532 pucStackByte -= portSTACK_GROWTH;
\r
2536 usCount /= sizeof( portSTACK_TYPE );
\r
2541 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
\r
2542 /*-----------------------------------------------------------*/
\r
2544 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2546 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2549 unsigned char *pcEndOfStack;
\r
2550 unsigned portBASE_TYPE uxReturn;
\r
2552 pxTCB = prvGetTCBFromHandle( xTask );
\r
2554 #if portSTACK_GROWTH < 0
\r
2556 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2560 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2564 uxReturn = ( unsigned portBASE_TYPE ) prvTaskCheckFreeStackSpace( pcEndOfStack );
\r
2569 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
\r
2570 /*-----------------------------------------------------------*/
\r
2572 #if ( INCLUDE_vTaskDelete == 1 )
\r
2574 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2576 /* This call is required specifically for the TriCore port. It must be
\r
2577 above the vPortFree() calls. The call is also used by ports/demos that
\r
2578 want to allocate and clean RAM statically. */
\r
2579 portCLEAN_UP_TCB( pxTCB );
\r
2581 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2582 the task to free any memory allocated at the application level. */
\r
2583 vPortFreeAligned( pxTCB->pxStack );
\r
2584 vPortFree( pxTCB );
\r
2587 #endif /* INCLUDE_vTaskDelete */
\r
2588 /*-----------------------------------------------------------*/
\r
2590 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2592 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2594 xTaskHandle xReturn;
\r
2596 /* A critical section is not required as this is not called from
\r
2597 an interrupt and the current TCB will always be the same for any
\r
2598 individual execution thread. */
\r
2599 xReturn = pxCurrentTCB;
\r
2604 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
\r
2605 /*-----------------------------------------------------------*/
\r
2607 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2609 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2611 portBASE_TYPE xReturn;
\r
2613 if( xSchedulerRunning == pdFALSE )
\r
2615 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2619 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2621 xReturn = taskSCHEDULER_RUNNING;
\r
2625 xReturn = taskSCHEDULER_SUSPENDED;
\r
2632 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
\r
2633 /*-----------------------------------------------------------*/
\r
2635 #if ( configUSE_MUTEXES == 1 )
\r
2637 void vTaskPriorityInherit( xTaskHandle const pxMutexHolder )
\r
2639 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2641 /* If the mutex was given back by an interrupt while the queue was
\r
2642 locked then the mutex holder might now be NULL. */
\r
2643 if( pxMutexHolder != NULL )
\r
2645 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2647 /* Adjust the mutex holder state to account for its new priority. */
\r
2648 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
2650 /* If the task being modified is in the ready state it will need to
\r
2651 be moved into a new list. */
\r
2652 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2654 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
2656 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2659 /* Inherit the priority before being moved into the new list. */
\r
2660 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2661 prvAddTaskToReadyList( pxTCB );
\r
2665 /* Just inherit the priority. */
\r
2666 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2669 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2674 #endif /* configUSE_MUTEXES */
\r
2675 /*-----------------------------------------------------------*/
\r
2677 #if ( configUSE_MUTEXES == 1 )
\r
2679 void vTaskPriorityDisinherit( xTaskHandle const pxMutexHolder )
\r
2681 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2683 if( pxMutexHolder != NULL )
\r
2685 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2687 /* We must be the running task to be able to give the mutex back.
\r
2688 Remove ourselves from the ready list we currently appear in. */
\r
2689 if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
\r
2691 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2694 /* Disinherit the priority before adding the task into the new
\r
2696 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2697 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2698 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
2699 prvAddTaskToReadyList( pxTCB );
\r
2704 #endif /* configUSE_MUTEXES */
\r
2705 /*-----------------------------------------------------------*/
\r
2707 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2709 void vTaskEnterCritical( void )
\r
2711 portDISABLE_INTERRUPTS();
\r
2713 if( xSchedulerRunning != pdFALSE )
\r
2715 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2719 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2720 /*-----------------------------------------------------------*/
\r
2722 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2724 void vTaskExitCritical( void )
\r
2726 if( xSchedulerRunning != pdFALSE )
\r
2728 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2730 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2732 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2734 portENABLE_INTERRUPTS();
\r
2740 #endif /* portCRITICAL_NESTING_IN_TCB */
\r
2741 /*-----------------------------------------------------------*/
\r
2743 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
2745 void vTaskList( signed char *pcWriteBuffer )
\r
2747 xTaskStatusType *pxTaskStatusArray;
\r
2748 volatile unsigned portBASE_TYPE uxArraySize, x;
\r
2754 * This function is provided for convenience only, and is used by many
\r
2755 * of the demo applications. Do not consider it to be part of the
\r
2758 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
\r
2759 * uxTaskGetSystemState() output into a human readable table that
\r
2760 * displays task names, states and stack usage.
\r
2762 * vTaskList() has a dependency on the sprintf() C library function that
\r
2763 * might bloat the code size, use a lot of stack, and provide different
\r
2764 * results on different platforms. An alternative, tiny, third party,
\r
2765 * and limited functionality implementation of sprintf() is provided in
\r
2766 * many of the FreeRTOS/Demo sub-directories in a file called
\r
2767 * printf-stdarg.c (note printf-stdarg.c does not provide a full
\r
2768 * snprintf() implementation!).
\r
2770 * It is recommended that production systems call uxTaskGetSystemState()
\r
2771 * directly to get access to raw stats data, rather than indirectly
\r
2772 * through a call to vTaskList().
\r
2776 /* Make sure the write buffer does not contain a string. */
\r
2777 *pcWriteBuffer = 0x00;
\r
2779 /* Take a snapshot of the number of tasks in case it changes while this
\r
2780 function is executing. */
\r
2781 uxArraySize = uxCurrentNumberOfTasks;
\r
2783 /* Allocate an array index for each task. */
\r
2784 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
\r
2786 if( pxTaskStatusArray != NULL )
\r
2788 /* Generate the (binary) data. */
\r
2789 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
\r
2791 /* Create a human readable table from the binary data. */
\r
2792 for( x = 0; x < uxArraySize; x++ )
\r
2794 switch( pxTaskStatusArray[ x ].eCurrentState )
\r
2796 case eReady: cStatus = tskREADY_CHAR;
\r
2799 case eBlocked: cStatus = tskBLOCKED_CHAR;
\r
2802 case eSuspended: cStatus = tskSUSPENDED_CHAR;
\r
2805 case eDeleted: cStatus = tskDELETED_CHAR;
\r
2808 default: /* Should not get here, but it is included
\r
2809 to prevent static checking errors. */
\r
2814 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
2815 pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
\r
2818 /* Free the array again. */
\r
2819 vPortFree( pxTaskStatusArray );
\r
2823 #endif /* configUSE_TRACE_FACILITY */
\r
2824 /*----------------------------------------------------------*/
\r
2826 #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
\r
2828 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
2830 xTaskStatusType *pxTaskStatusArray;
\r
2831 volatile unsigned portBASE_TYPE uxArraySize, x;
\r
2832 unsigned long ulTotalTime, ulStatsAsPercentage;
\r
2837 * This function is provided for convenience only, and is used by many
\r
2838 * of the demo applications. Do not consider it to be part of the
\r
2841 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
\r
2842 * of the uxTaskGetSystemState() output into a human readable table that
\r
2843 * displays the amount of time each task has spent in the Running state
\r
2844 * in both absolute and percentage terms.
\r
2846 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
\r
2847 * function that might bloat the code size, use a lot of stack, and
\r
2848 * provide different results on different platforms. An alternative,
\r
2849 * tiny, third party, and limited functionality implementation of
\r
2850 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
\r
2851 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
\r
2852 * a full snprintf() implementation!).
\r
2854 * It is recommended that production systems call uxTaskGetSystemState()
\r
2855 * directly to get access to raw stats data, rather than indirectly
\r
2856 * through a call to vTaskGetRunTimeStats().
\r
2859 /* Make sure the write buffer does not contain a string. */
\r
2860 *pcWriteBuffer = 0x00;
\r
2862 /* Take a snapshot of the number of tasks in case it changes while this
\r
2863 function is executing. */
\r
2864 uxArraySize = uxCurrentNumberOfTasks;
\r
2866 /* Allocate an array index for each task. */
\r
2867 pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
\r
2869 if( pxTaskStatusArray != NULL )
\r
2871 /* Generate the (binary) data. */
\r
2872 uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
\r
2874 /* For percentage calculations. */
\r
2875 ulTotalTime /= 100UL;
\r
2877 /* Avoid divide by zero errors. */
\r
2878 if( ulTotalTime > 0 )
\r
2880 /* Create a human readable table from the binary data. */
\r
2881 for( x = 0; x < uxArraySize; x++ )
\r
2883 /* What percentage of the total run time has the task used?
\r
2884 This will always be rounded down to the nearest integer.
\r
2885 ulTotalRunTimeDiv100 has already been divided by 100. */
\r
2886 ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
\r
2888 if( ulStatsAsPercentage > 0UL )
\r
2890 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2892 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
\r
2896 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2897 printf() library can be used. */
\r
2898 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
2904 /* If the percentage is zero here then the task has
\r
2905 consumed less than 1% of the total run time. */
\r
2906 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2908 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
2912 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2913 printf() library can be used. */
\r
2914 sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
\r
2919 pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
\r
2923 /* Free the array again. */
\r
2924 vPortFree( pxTaskStatusArray );
\r
2928 #endif /* configGENERATE_RUN_TIME_STATS */
\r
projects / freertos / blob