2 FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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32 >>>NOTE<<< The modification to the GPL is included to allow you to
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33 distribute a combined work that includes FreeRTOS without being obliged to
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34 provide the source code for proprietary components outside of the FreeRTOS
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35 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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36 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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37 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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38 more details. You should have received a copy of the GNU General Public
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39 License and the FreeRTOS license exception along with FreeRTOS; if not it
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40 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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41 by writing to Richard Barry, contact details for whom are available on the
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46 ***************************************************************************
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48 * Having a problem? Start by reading the FAQ "My application does *
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49 * not run, what could be wrong?" *
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51 * http://www.FreeRTOS.org/FAQHelp.html *
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53 ***************************************************************************
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56 http://www.FreeRTOS.org - Documentation, training, latest versions, license
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57 and contact details.
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59 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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60 including FreeRTOS+Trace - an indispensable productivity tool.
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62 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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63 the code with commercial support, indemnification, and middleware, under
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64 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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65 provide a safety engineered and independently SIL3 certified version under
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66 the SafeRTOS brand: http://www.SafeRTOS.com.
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69 /* Standard includes. */
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74 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
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75 all the API functions to use the MPU wrappers. That should only be done when
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76 task.h is included from an application file. */
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77 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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79 /* FreeRTOS includes. */
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80 #include "FreeRTOS.h"
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83 #include "StackMacros.h"
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85 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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88 * Defines the size, in words, of the stack allocated to the idle task.
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90 #define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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93 * Task control block. A task control block (TCB) is allocated for each task,
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94 * and stores task state information, including a pointer to the task's context
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95 * (the task's run time environment, including register values)
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97 typedef struct tskTaskControlBlock
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99 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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101 #if ( portUSING_MPU_WRAPPERS == 1 )
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102 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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105 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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106 xListItem xEventListItem; /*< Used to reference a task from an event list. */
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107 unsigned portBASE_TYPE uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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108 portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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109 signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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111 #if ( portSTACK_GROWTH > 0 )
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112 portSTACK_TYPE *pxEndOfStack; /*< Points to the end of the stack on architectures where the stack grows up from low memory. */
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115 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
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116 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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119 #if ( configUSE_TRACE_FACILITY == 1 )
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120 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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121 unsigned portBASE_TYPE uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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124 #if ( configUSE_MUTEXES == 1 )
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125 unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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128 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
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129 pdTASK_HOOK_CODE pxTaskTag;
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132 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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133 unsigned long ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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140 * Some kernel aware debuggers require the data the debugger needs access to to
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141 * be global, rather than file scope.
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143 #ifdef portREMOVE_STATIC_QUALIFIER
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148 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
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150 /* Lists for ready and blocked tasks. --------------------*/
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151 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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152 PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
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153 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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154 PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
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155 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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156 PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */
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158 #if ( INCLUDE_vTaskDelete == 1 )
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160 PRIVILEGED_DATA static xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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161 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
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165 #if ( INCLUDE_vTaskSuspend == 1 )
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167 PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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171 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
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173 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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177 /* File private variables. --------------------------------*/
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178 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0U;
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179 PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0U;
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180 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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181 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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182 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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183 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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184 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0U;
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185 PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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186 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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187 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0U;
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188 PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime = ( portTickType ) portMAX_DELAY;
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190 #if ( configGENERATE_RUN_TIME_STATS == 1 )
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192 PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
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193 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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194 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
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198 /* Debugging and trace facilities private variables and macros. ------------*/
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201 * The value used to fill the stack of a task when the task is created. This
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202 * is used purely for checking the high water mark for tasks.
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204 #define tskSTACK_FILL_BYTE ( 0xa5U )
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207 * Macros used by vListTask to indicate which state a task is in.
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209 #define tskBLOCKED_CHAR ( ( signed char ) 'B' )
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210 #define tskREADY_CHAR ( ( signed char ) 'R' )
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211 #define tskDELETED_CHAR ( ( signed char ) 'D' )
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212 #define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
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214 /*-----------------------------------------------------------*/
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216 #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 0
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218 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
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219 performed in a generic way that is not optimised to any particular
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220 microcontroller architecture. */
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222 /* uxTopReadyPriority holds the priority of the highest priority ready
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224 #define taskRECORD_READY_PRIORITY( uxPriority ) \
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226 if( ( uxPriority ) > uxTopReadyPriority ) \
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228 uxTopReadyPriority = ( uxPriority ); \
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230 } /* taskRECORD_READY_PRIORITY */
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232 /*-----------------------------------------------------------*/
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234 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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236 /* Find the highest priority queue that contains ready tasks. */ \
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237 while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
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239 configASSERT( uxTopReadyPriority ); \
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240 --uxTopReadyPriority; \
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243 /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
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244 the same priority get an equal share of the processor time. */ \
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245 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
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246 } /* taskSELECT_HIGHEST_PRIORITY_TASK */
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248 /*-----------------------------------------------------------*/
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250 /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
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251 they are only required when a port optimised method of task selection is
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253 #define taskRESET_READY_PRIORITY( uxPriority )
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254 #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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256 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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258 /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
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259 performed in a way that is tailored to the particular microcontroller
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260 architecture being used. */
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262 /* A port optimised version is provided. Call the port defined macros. */
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263 #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
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265 /*-----------------------------------------------------------*/
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267 #define taskSELECT_HIGHEST_PRIORITY_TASK() \
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269 unsigned portBASE_TYPE uxTopPriority; \
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271 /* Find the highest priority queue that contains ready tasks. */ \
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272 portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
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273 configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
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274 listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
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275 } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
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277 /*-----------------------------------------------------------*/
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279 /* A port optimised version is provided, call it only if the TCB being reset
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280 is being referenced from a ready list. If it is referenced from a delayed
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281 or suspended list then it won't be in a ready list. */
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282 #define taskRESET_READY_PRIORITY( uxPriority ) \
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284 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 ) \
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286 portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
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290 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
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293 * Place the task represented by pxTCB into the appropriate ready queue for
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294 * the task. It is inserted at the end of the list. One quirk of this is
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295 * that if the task being inserted is at the same priority as the currently
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296 * executing task, then it will only be rescheduled after the currently
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297 * executing task has been rescheduled.
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299 #define prvAddTaskToReadyQueue( pxTCB ) \
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300 traceMOVED_TASK_TO_READY_STATE( pxTCB ) \
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301 taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
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302 vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
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303 /*-----------------------------------------------------------*/
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306 * Macro that looks at the list of tasks that are currently delayed to see if
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307 * any require waking.
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309 * Tasks are stored in the queue in the order of their wake time - meaning
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310 * once one tasks has been found whose timer has not expired we need not look
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311 * any further down the list.
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313 #define prvCheckDelayedTasks() \
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315 portTickType xItemValue; \
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317 /* Is the tick count greater than or equal to the wake time of the first \
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318 task referenced from the delayed tasks list? */ \
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319 if( xTickCount >= xNextTaskUnblockTime ) \
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323 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE ) \
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325 /* The delayed list is empty. Set xNextTaskUnblockTime to the \
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326 maximum possible value so it is extremely unlikely that the \
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327 if( xTickCount >= xNextTaskUnblockTime ) test will pass next \
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329 xNextTaskUnblockTime = portMAX_DELAY; \
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334 /* The delayed list is not empty, get the value of the item at \
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335 the head of the delayed list. This is the time at which the \
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336 task at the head of the delayed list should be removed from \
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337 the Blocked state. */ \
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338 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); \
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339 xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ); \
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341 if( xTickCount < xItemValue ) \
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343 /* It is not time to unblock this item yet, but the item \
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344 value is the time at which the task at the head of the \
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345 blocked list should be removed from the Blocked state - \
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346 so record the item value in xNextTaskUnblockTime. */ \
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347 xNextTaskUnblockTime = xItemValue; \
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351 /* It is time to remove the item from the Blocked state. */ \
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352 uxListRemove( &( pxTCB->xGenericListItem ) ); \
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354 /* Is the task waiting on an event also? */ \
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355 if( pxTCB->xEventListItem.pvContainer != NULL ) \
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357 uxListRemove( &( pxTCB->xEventListItem ) ); \
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359 prvAddTaskToReadyQueue( pxTCB ); \
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364 /*-----------------------------------------------------------*/
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367 * Several functions take an xTaskHandle parameter that can optionally be NULL,
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368 * where NULL is used to indicate that the handle of the currently executing
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369 * task should be used in place of the parameter. This macro simply checks to
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370 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
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372 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
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374 /* Callback function prototypes. --------------------------*/
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375 extern void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName );
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376 extern void vApplicationTickHook( void );
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378 /* File private functions. --------------------------------*/
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381 * Utility to ready a TCB for a given task. Mainly just copies the parameters
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382 * into the TCB structure.
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384 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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387 * Utility to ready all the lists used by the scheduler. This is called
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388 * automatically upon the creation of the first task.
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390 static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
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393 * The idle task, which as all tasks is implemented as a never ending loop.
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394 * The idle task is automatically created and added to the ready lists upon
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395 * creation of the first user task.
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397 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
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398 * language extensions. The equivalent prototype for this function is:
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400 * void prvIdleTask( void *pvParameters );
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403 static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
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406 * Utility to free all memory allocated by the scheduler to hold a TCB,
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407 * including the stack pointed to by the TCB.
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409 * This does not free memory allocated by the task itself (i.e. memory
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410 * allocated by calls to pvPortMalloc from within the tasks application code).
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412 #if ( INCLUDE_vTaskDelete == 1 )
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414 static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
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419 * Used only by the idle task. This checks to see if anything has been placed
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420 * in the list of tasks waiting to be deleted. If so the task is cleaned up
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421 * and its TCB deleted.
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423 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
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426 * The currently executing task is entering the Blocked state. Add the task to
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427 * either the current or the overflow delayed task list.
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429 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
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432 * Allocates memory from the heap for a TCB and associated stack. Checks the
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433 * allocation was successful.
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435 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
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438 * Called from vTaskList. vListTasks details all the tasks currently under
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439 * control of the scheduler. The tasks may be in one of a number of lists.
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440 * prvListTaskWithinSingleList accepts a list and details the tasks from
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441 * within just that list.
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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 void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) 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 usTaskCheckFreeStackSpace( 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 #if ( configUSE_TICKLESS_IDLE == 1 )
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469 static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
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477 /*-----------------------------------------------------------
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478 * TASK CREATION API documented in task.h
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479 *----------------------------------------------------------*/
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481 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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483 signed portBASE_TYPE xReturn;
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486 configASSERT( pxTaskCode );
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487 configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
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489 /* Allocate the memory required by the TCB and stack for the new task,
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490 checking that the allocation was successful. */
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491 pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
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493 if( pxNewTCB != NULL )
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495 portSTACK_TYPE *pxTopOfStack;
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497 #if( portUSING_MPU_WRAPPERS == 1 )
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498 /* Should the task be created in privileged mode? */
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499 portBASE_TYPE xRunPrivileged;
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500 if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
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502 xRunPrivileged = pdTRUE;
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506 xRunPrivileged = pdFALSE;
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508 uxPriority &= ~portPRIVILEGE_BIT;
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509 #endif /* portUSING_MPU_WRAPPERS == 1 */
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511 /* Calculate the top of stack address. This depends on whether the
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512 stack grows from high memory to low (as per the 80x86) or visa versa.
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513 portSTACK_GROWTH is used to make the result positive or negative as
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514 required by the port. */
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515 #if( portSTACK_GROWTH < 0 )
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517 pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
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518 pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
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520 /* Check the alignment of the calculated top of stack is correct. */
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521 configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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525 pxTopOfStack = pxNewTCB->pxStack;
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527 /* Check the alignment of the stack buffer is correct. */
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528 configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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530 /* If we want to use stack checking on architectures that use
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531 a positive stack growth direction then we also need to store the
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532 other extreme of the stack space. */
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533 pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
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537 /* Setup the newly allocated TCB with the initial state of the task. */
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538 prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
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540 /* Initialize the TCB stack to look as if the task was already running,
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541 but had been interrupted by the scheduler. The return address is set
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542 to the start of the task function. Once the stack has been initialised
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543 the top of stack variable is updated. */
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544 #if( portUSING_MPU_WRAPPERS == 1 )
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546 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
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550 pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
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554 /* Check the alignment of the initialised stack. */
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555 portALIGNMENT_ASSERT_pxCurrentTCB( ( ( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
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557 if( ( void * ) pxCreatedTask != NULL )
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559 /* Pass the TCB out - in an anonymous way. The calling function/
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560 task can use this as a handle to delete the task later if
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562 *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
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565 /* We are going to manipulate the task queues to add this task to a
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566 ready list, so must make sure no interrupts occur. */
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567 taskENTER_CRITICAL();
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569 uxCurrentNumberOfTasks++;
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570 if( pxCurrentTCB == NULL )
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572 /* There are no other tasks, or all the other tasks are in
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573 the suspended state - make this the current task. */
\r
574 pxCurrentTCB = pxNewTCB;
\r
576 if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
\r
578 /* This is the first task to be created so do the preliminary
\r
579 initialisation required. We will not recover if this call
\r
580 fails, but we will report the failure. */
\r
581 prvInitialiseTaskLists();
\r
586 /* If the scheduler is not already running, make this task the
\r
587 current task if it is the highest priority task to be created
\r
589 if( xSchedulerRunning == pdFALSE )
\r
591 if( pxCurrentTCB->uxPriority <= uxPriority )
\r
593 pxCurrentTCB = pxNewTCB;
\r
598 /* Remember the top priority to make context switching faster. Use
\r
599 the priority in pxNewTCB as this has been capped to a valid value. */
\r
600 if( pxNewTCB->uxPriority > uxTopUsedPriority )
\r
602 uxTopUsedPriority = pxNewTCB->uxPriority;
\r
605 #if ( configUSE_TRACE_FACILITY == 1 )
\r
607 /* Add a counter into the TCB for tracing only. */
\r
608 pxNewTCB->uxTCBNumber = uxTaskNumber;
\r
613 prvAddTaskToReadyQueue( pxNewTCB );
\r
616 portSETUP_TCB( pxNewTCB );
\r
617 traceTASK_CREATE( pxNewTCB );
\r
619 taskEXIT_CRITICAL();
\r
623 xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
\r
624 traceTASK_CREATE_FAILED();
\r
627 if( xReturn == pdPASS )
\r
629 if( xSchedulerRunning != pdFALSE )
\r
631 /* If the created task is of a higher priority than the current task
\r
632 then it should run now. */
\r
633 if( pxCurrentTCB->uxPriority < uxPriority )
\r
635 portYIELD_WITHIN_API();
\r
642 /*-----------------------------------------------------------*/
\r
644 #if ( INCLUDE_vTaskDelete == 1 )
\r
646 void vTaskDelete( xTaskHandle pxTaskToDelete )
\r
650 taskENTER_CRITICAL();
\r
652 /* Ensure a yield is performed if the current task is being
\r
654 if( pxTaskToDelete == pxCurrentTCB )
\r
656 pxTaskToDelete = NULL;
\r
659 /* If null is passed in here then we are deleting ourselves. */
\r
660 pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
\r
662 /* Remove task from the ready list and place in the termination list.
\r
663 This will stop the task from be scheduled. The idle task will check
\r
664 the termination list and free up any memory allocated by the
\r
665 scheduler for the TCB and stack. */
\r
666 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
668 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
671 /* Is the task waiting on an event also? */
\r
672 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
674 uxListRemove( &( pxTCB->xEventListItem ) );
\r
677 vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
\r
679 /* Increment the ucTasksDeleted variable so the idle task knows
\r
680 there is a task that has been deleted and that it should therefore
\r
681 check the xTasksWaitingTermination list. */
\r
684 /* Increment the uxTaskNumberVariable also so kernel aware debuggers
\r
685 can detect that the task lists need re-generating. */
\r
688 traceTASK_DELETE( pxTCB );
\r
690 taskEXIT_CRITICAL();
\r
692 /* Force a reschedule if we have just deleted the current task. */
\r
693 if( xSchedulerRunning != pdFALSE )
\r
695 if( ( void * ) pxTaskToDelete == NULL )
\r
697 portYIELD_WITHIN_API();
\r
709 /*-----------------------------------------------------------
\r
710 * TASK CONTROL API documented in task.h
\r
711 *----------------------------------------------------------*/
\r
713 #if ( INCLUDE_vTaskDelayUntil == 1 )
\r
715 void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
\r
717 portTickType xTimeToWake;
\r
718 portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
\r
720 configASSERT( pxPreviousWakeTime );
\r
721 configASSERT( ( xTimeIncrement > 0U ) );
\r
725 /* Generate the tick time at which the task wants to wake. */
\r
726 xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
\r
728 if( xTickCount < *pxPreviousWakeTime )
\r
730 /* The tick count has overflowed since this function was
\r
731 lasted called. In this case the only time we should ever
\r
732 actually delay is if the wake time has also overflowed,
\r
733 and the wake time is greater than the tick time. When this
\r
734 is the case it is as if neither time had overflowed. */
\r
735 if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
\r
737 xShouldDelay = pdTRUE;
\r
742 /* The tick time has not overflowed. In this case we will
\r
743 delay if either the wake time has overflowed, and/or the
\r
744 tick time is less than the wake time. */
\r
745 if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
\r
747 xShouldDelay = pdTRUE;
\r
751 /* Update the wake time ready for the next call. */
\r
752 *pxPreviousWakeTime = xTimeToWake;
\r
754 if( xShouldDelay != pdFALSE )
\r
756 traceTASK_DELAY_UNTIL();
\r
758 /* We must remove ourselves from the ready list before adding
\r
759 ourselves to the blocked list as the same list item is used for
\r
761 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
763 /* The current task must be in a ready list, so there is
\r
764 no need to check, and the port reset macro can be called
\r
766 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
769 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
772 xAlreadyYielded = xTaskResumeAll();
\r
774 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
775 have put ourselves to sleep. */
\r
776 if( xAlreadyYielded == pdFALSE )
\r
778 portYIELD_WITHIN_API();
\r
783 /*-----------------------------------------------------------*/
\r
785 #if ( INCLUDE_vTaskDelay == 1 )
\r
787 void vTaskDelay( portTickType xTicksToDelay )
\r
789 portTickType xTimeToWake;
\r
790 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
792 /* A delay time of zero just forces a reschedule. */
\r
793 if( xTicksToDelay > ( portTickType ) 0U )
\r
799 /* A task that is removed from the event list while the
\r
800 scheduler is suspended will not get placed in the ready
\r
801 list or removed from the blocked list until the scheduler
\r
804 This task cannot be in an event list as it is the currently
\r
807 /* Calculate the time to wake - this may overflow but this is
\r
809 xTimeToWake = xTickCount + xTicksToDelay;
\r
811 /* We must remove ourselves from the ready list before adding
\r
812 ourselves to the blocked list as the same list item is used for
\r
814 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
816 /* The current task must be in a ready list, so there is
\r
817 no need to check, and the port reset macro can be called
\r
819 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
821 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
823 xAlreadyYielded = xTaskResumeAll();
\r
826 /* Force a reschedule if xTaskResumeAll has not already done so, we may
\r
827 have put ourselves to sleep. */
\r
828 if( xAlreadyYielded == pdFALSE )
\r
830 portYIELD_WITHIN_API();
\r
835 /*-----------------------------------------------------------*/
\r
837 #if ( INCLUDE_eTaskStateGet == 1 )
\r
839 eTaskState eTaskStateGet( xTaskHandle pxTask )
\r
841 eTaskState eReturn;
\r
842 xList *pxStateList;
\r
845 pxTCB = ( tskTCB * ) pxTask;
\r
847 if( pxTCB == pxCurrentTCB )
\r
849 /* The task calling this function is querying its own state. */
\r
850 eReturn = eRunning;
\r
854 taskENTER_CRITICAL();
\r
856 pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
\r
858 taskEXIT_CRITICAL();
\r
860 if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
\r
862 /* The task being queried is referenced from one of the Blocked
\r
864 eReturn = eBlocked;
\r
867 #if ( INCLUDE_vTaskSuspend == 1 )
\r
868 else if( pxStateList == &xSuspendedTaskList )
\r
870 /* The task being queried is referenced from the suspended
\r
872 eReturn = eSuspended;
\r
876 #if ( INCLUDE_vTaskDelete == 1 )
\r
877 else if( pxStateList == &xTasksWaitingTermination )
\r
879 /* The task being queried is referenced from the deleted
\r
881 eReturn = eDeleted;
\r
887 /* If the task is not in any other state, it must be in the
\r
888 Ready (including pending ready) state. */
\r
897 /*-----------------------------------------------------------*/
\r
899 #if ( INCLUDE_uxTaskPriorityGet == 1 )
\r
901 unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
\r
904 unsigned portBASE_TYPE uxReturn;
\r
906 taskENTER_CRITICAL();
\r
908 /* If null is passed in here then we are changing the
\r
909 priority of the calling function. */
\r
910 pxTCB = prvGetTCBFromHandle( pxTask );
\r
911 uxReturn = pxTCB->uxPriority;
\r
913 taskEXIT_CRITICAL();
\r
919 /*-----------------------------------------------------------*/
\r
921 #if ( INCLUDE_vTaskPrioritySet == 1 )
\r
923 void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
\r
926 unsigned portBASE_TYPE uxCurrentPriority, uxPriorityUsedOnEntry;
\r
927 portBASE_TYPE xYieldRequired = pdFALSE;
\r
929 configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
\r
931 /* Ensure the new priority is valid. */
\r
932 if( uxNewPriority >= configMAX_PRIORITIES )
\r
934 uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
937 taskENTER_CRITICAL();
\r
939 if( pxTask == pxCurrentTCB )
\r
944 /* If null is passed in here then we are changing the
\r
945 priority of the calling function. */
\r
946 pxTCB = prvGetTCBFromHandle( pxTask );
\r
948 traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
\r
950 #if ( configUSE_MUTEXES == 1 )
\r
952 uxCurrentPriority = pxTCB->uxBasePriority;
\r
956 uxCurrentPriority = pxTCB->uxPriority;
\r
960 if( uxCurrentPriority != uxNewPriority )
\r
962 /* The priority change may have readied a task of higher
\r
963 priority than the calling task. */
\r
964 if( uxNewPriority > uxCurrentPriority )
\r
966 if( pxTask != NULL )
\r
968 /* The priority of another task is being raised. If we
\r
969 were raising the priority of the currently running task
\r
970 there would be no need to switch as it must have already
\r
971 been the highest priority task. */
\r
972 xYieldRequired = pdTRUE;
\r
975 else if( pxTask == NULL )
\r
977 /* Setting our own priority down means there may now be another
\r
978 task of higher priority that is ready to execute. */
\r
979 xYieldRequired = pdTRUE;
\r
982 /* Remember the ready list the task might be referenced from
\r
983 before its uxPriority member is changed so the
\r
984 taskRESET_READY_PRIORITY() macro can function correctly. */
\r
985 uxPriorityUsedOnEntry = pxTCB->uxPriority;
\r
987 #if ( configUSE_MUTEXES == 1 )
\r
989 /* Only change the priority being used if the task is not
\r
990 currently using an inherited priority. */
\r
991 if( pxTCB->uxBasePriority == pxTCB->uxPriority )
\r
993 pxTCB->uxPriority = uxNewPriority;
\r
996 /* The base priority gets set whatever. */
\r
997 pxTCB->uxBasePriority = uxNewPriority;
\r
1001 pxTCB->uxPriority = uxNewPriority;
\r
1005 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
\r
1007 /* If the task is in the blocked or suspended list we need do
\r
1008 nothing more than change it's priority variable. However, if
\r
1009 the task is in a ready list it needs to be removed and placed
\r
1010 in the queue appropriate to its new priority. */
\r
1011 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
\r
1013 /* The task is currently in its ready list - remove before adding
\r
1014 it to it's new ready list. As we are in a critical section we
\r
1015 can do this even if the scheduler is suspended. */
\r
1016 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1018 taskRESET_READY_PRIORITY( uxPriorityUsedOnEntry );
\r
1020 prvAddTaskToReadyQueue( pxTCB );
\r
1023 if( xYieldRequired == pdTRUE )
\r
1025 portYIELD_WITHIN_API();
\r
1029 taskEXIT_CRITICAL();
\r
1031 /* Remove compiler warning about unused parameter when the port
\r
1032 optimised task selection is not being used. */
\r
1033 ( void ) uxPriorityUsedOnEntry;
\r
1037 /*-----------------------------------------------------------*/
\r
1039 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1041 void vTaskSuspend( xTaskHandle pxTaskToSuspend )
\r
1045 taskENTER_CRITICAL();
\r
1047 /* Ensure a yield is performed if the current task is being
\r
1049 if( pxTaskToSuspend == pxCurrentTCB )
\r
1051 pxTaskToSuspend = NULL;
\r
1054 /* If null is passed in here then we are suspending ourselves. */
\r
1055 pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
\r
1057 traceTASK_SUSPEND( pxTCB );
\r
1059 /* Remove task from the ready/delayed list and place in the suspended list. */
\r
1060 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
1062 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
1065 /* Is the task waiting on an event also? */
\r
1066 if( pxTCB->xEventListItem.pvContainer != NULL )
\r
1068 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1071 vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
\r
1073 taskEXIT_CRITICAL();
\r
1075 if( ( void * ) pxTaskToSuspend == NULL )
\r
1077 if( xSchedulerRunning != pdFALSE )
\r
1079 /* We have just suspended the current task. */
\r
1080 portYIELD_WITHIN_API();
\r
1084 /* The scheduler is not running, but the task that was pointed
\r
1085 to by pxCurrentTCB has just been suspended and pxCurrentTCB
\r
1086 must be adjusted to point to a different task. */
\r
1087 if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
\r
1089 /* No other tasks are ready, so set pxCurrentTCB back to
\r
1090 NULL so when the next task is created pxCurrentTCB will
\r
1091 be set to point to it no matter what its relative priority
\r
1093 pxCurrentTCB = NULL;
\r
1097 vTaskSwitchContext();
\r
1104 /*-----------------------------------------------------------*/
\r
1106 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1108 signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
\r
1110 portBASE_TYPE xReturn = pdFALSE;
\r
1111 const tskTCB * const pxTCB = ( tskTCB * ) xTask;
\r
1113 /* It does not make sense to check if the calling task is suspended. */
\r
1114 configASSERT( xTask );
\r
1116 /* Is the task we are attempting to resume actually in the
\r
1117 suspended list? */
\r
1118 if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
1120 /* Has the task already been resumed from within an ISR? */
\r
1121 if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
\r
1123 /* Is it in the suspended list because it is in the
\r
1124 Suspended state? It is possible to be in the suspended
\r
1125 list because it is blocked on a task with no timeout
\r
1127 if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
\r
1138 /*-----------------------------------------------------------*/
\r
1140 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1142 void vTaskResume( xTaskHandle pxTaskToResume )
\r
1146 /* It does not make sense to resume the calling task. */
\r
1147 configASSERT( pxTaskToResume );
\r
1149 /* Remove the task from whichever list it is currently in, and place
\r
1150 it in the ready list. */
\r
1151 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1153 /* The parameter cannot be NULL as it is impossible to resume the
\r
1154 currently executing task. */
\r
1155 if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
\r
1157 taskENTER_CRITICAL();
\r
1159 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1161 traceTASK_RESUME( pxTCB );
\r
1163 /* As we are in a critical section we can access the ready
\r
1164 lists even if the scheduler is suspended. */
\r
1165 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1166 prvAddTaskToReadyQueue( pxTCB );
\r
1168 /* We may have just resumed a higher priority task. */
\r
1169 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1171 /* This yield may not cause the task just resumed to run, but
\r
1172 will leave the lists in the correct state for the next yield. */
\r
1173 portYIELD_WITHIN_API();
\r
1177 taskEXIT_CRITICAL();
\r
1183 /*-----------------------------------------------------------*/
\r
1185 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
\r
1187 portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
\r
1189 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1191 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1193 configASSERT( pxTaskToResume );
\r
1195 pxTCB = ( tskTCB * ) pxTaskToResume;
\r
1197 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1199 if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
\r
1201 traceTASK_RESUME_FROM_ISR( pxTCB );
\r
1203 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1205 xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
\r
1206 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1207 prvAddTaskToReadyQueue( pxTCB );
\r
1211 /* We cannot access the delayed or ready lists, so will hold this
\r
1212 task pending until the scheduler is resumed, at which point a
\r
1213 yield will be performed if necessary. */
\r
1214 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
\r
1218 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1220 return xYieldRequired;
\r
1228 /*-----------------------------------------------------------
\r
1229 * PUBLIC SCHEDULER CONTROL documented in task.h
\r
1230 *----------------------------------------------------------*/
\r
1233 void vTaskStartScheduler( void )
\r
1235 portBASE_TYPE xReturn;
\r
1237 /* Add the idle task at the lowest priority. */
\r
1238 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1240 /* Create the idle task, storing its handle in xIdleTaskHandle so it can
\r
1241 be returned by the xTaskGetIdleTaskHandle() function. */
\r
1242 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );
\r
1246 /* Create the idle task without storing its handle. */
\r
1247 xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
\r
1251 #if ( configUSE_TIMERS == 1 )
\r
1253 if( xReturn == pdPASS )
\r
1255 xReturn = xTimerCreateTimerTask();
\r
1260 if( xReturn == pdPASS )
\r
1262 /* Interrupts are turned off here, to ensure a tick does not occur
\r
1263 before or during the call to xPortStartScheduler(). The stacks of
\r
1264 the created tasks contain a status word with interrupts switched on
\r
1265 so interrupts will automatically get re-enabled when the first task
\r
1268 STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
\r
1269 DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
\r
1270 portDISABLE_INTERRUPTS();
\r
1272 xSchedulerRunning = pdTRUE;
\r
1273 xTickCount = ( portTickType ) 0U;
\r
1275 /* If configGENERATE_RUN_TIME_STATS is defined then the following
\r
1276 macro must be defined to configure the timer/counter used to generate
\r
1277 the run time counter time base. */
\r
1278 portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
\r
1280 /* Setting up the timer tick is hardware specific and thus in the
\r
1281 portable interface. */
\r
1282 if( xPortStartScheduler() != pdFALSE )
\r
1284 /* Should not reach here as if the scheduler is running the
\r
1285 function will not return. */
\r
1289 /* Should only reach here if a task calls xTaskEndScheduler(). */
\r
1293 /* This line will only be reached if the kernel could not be started. */
\r
1294 configASSERT( xReturn );
\r
1296 /*-----------------------------------------------------------*/
\r
1298 void vTaskEndScheduler( void )
\r
1300 /* Stop the scheduler interrupts and call the portable scheduler end
\r
1301 routine so the original ISRs can be restored if necessary. The port
\r
1302 layer must ensure interrupts enable bit is left in the correct state. */
\r
1303 portDISABLE_INTERRUPTS();
\r
1304 xSchedulerRunning = pdFALSE;
\r
1305 vPortEndScheduler();
\r
1307 /*----------------------------------------------------------*/
\r
1309 void vTaskSuspendAll( void )
\r
1311 /* A critical section is not required as the variable is of type
\r
1313 ++uxSchedulerSuspended;
\r
1315 /*----------------------------------------------------------*/
\r
1317 portTickType prvGetExpectedIdleTime( void )
\r
1319 portTickType xReturn;
\r
1321 if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
\r
1325 else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
\r
1327 /* There are other idle priority tasks in the ready state. If
\r
1328 time slicing is used then the very next tick interrupt must be
\r
1334 xReturn = xNextTaskUnblockTime - xTickCount;
\r
1339 /*----------------------------------------------------------*/
\r
1341 signed portBASE_TYPE xTaskResumeAll( void )
\r
1343 register tskTCB *pxTCB;
\r
1344 signed portBASE_TYPE xAlreadyYielded = pdFALSE;
\r
1346 /* If uxSchedulerSuspended is zero then this function does not match a
\r
1347 previous call to vTaskSuspendAll(). */
\r
1348 configASSERT( uxSchedulerSuspended );
\r
1350 /* It is possible that an ISR caused a task to be removed from an event
\r
1351 list while the scheduler was suspended. If this was the case then the
\r
1352 removed task will have been added to the xPendingReadyList. Once the
\r
1353 scheduler has been resumed it is safe to move all the pending ready
\r
1354 tasks from this list into their appropriate ready list. */
\r
1355 taskENTER_CRITICAL();
\r
1357 --uxSchedulerSuspended;
\r
1359 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1361 if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
\r
1363 portBASE_TYPE xYieldRequired = pdFALSE;
\r
1365 /* Move any readied tasks from the pending list into the
\r
1366 appropriate ready list. */
\r
1367 while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
\r
1369 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) );
\r
1370 uxListRemove( &( pxTCB->xEventListItem ) );
\r
1371 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
1372 prvAddTaskToReadyQueue( pxTCB );
\r
1374 /* If we have moved a task that has a priority higher than
\r
1375 the current task then we should yield. */
\r
1376 if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1378 xYieldRequired = pdTRUE;
\r
1382 /* If any ticks occurred while the scheduler was suspended then
\r
1383 they should be processed now. This ensures the tick count does not
\r
1384 slip, and that any delayed tasks are resumed at the correct time. */
\r
1385 if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1387 while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
\r
1389 vTaskIncrementTick();
\r
1393 /* As we have processed some ticks it is appropriate to yield
\r
1394 to ensure the highest priority task that is ready to run is
\r
1395 the task actually running. */
\r
1396 #if configUSE_PREEMPTION == 1
\r
1398 xYieldRequired = pdTRUE;
\r
1403 if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
\r
1405 xAlreadyYielded = pdTRUE;
\r
1406 xMissedYield = pdFALSE;
\r
1407 portYIELD_WITHIN_API();
\r
1412 taskEXIT_CRITICAL();
\r
1414 return xAlreadyYielded;
\r
1422 /*-----------------------------------------------------------
\r
1423 * PUBLIC TASK UTILITIES documented in task.h
\r
1424 *----------------------------------------------------------*/
\r
1428 portTickType xTaskGetTickCount( void )
\r
1430 portTickType xTicks;
\r
1432 /* Critical section required if running on a 16 bit processor. */
\r
1433 taskENTER_CRITICAL();
\r
1435 xTicks = xTickCount;
\r
1437 taskEXIT_CRITICAL();
\r
1441 /*-----------------------------------------------------------*/
\r
1443 portTickType xTaskGetTickCountFromISR( void )
\r
1445 portTickType xReturn;
\r
1446 unsigned portBASE_TYPE uxSavedInterruptStatus;
\r
1448 uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
\r
1449 xReturn = xTickCount;
\r
1450 portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
\r
1454 /*-----------------------------------------------------------*/
\r
1456 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
\r
1458 /* A critical section is not required because the variables are of type
\r
1460 return uxCurrentNumberOfTasks;
\r
1462 /*-----------------------------------------------------------*/
\r
1464 #if ( INCLUDE_pcTaskGetTaskName == 1 )
\r
1466 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
\r
1470 /* If null is passed in here then the name of the calling task is being queried. */
\r
1471 pxTCB = prvGetTCBFromHandle( xTaskToQuery );
\r
1472 configASSERT( pxTCB );
\r
1473 return &( pxTCB->pcTaskName[ 0 ] );
\r
1477 /*-----------------------------------------------------------*/
\r
1479 #if ( configUSE_TRACE_FACILITY == 1 )
\r
1481 void vTaskList( signed char *pcWriteBuffer )
\r
1483 unsigned portBASE_TYPE uxQueue;
\r
1485 /* This is a VERY costly function that should be used for debug only.
\r
1486 It leaves interrupts disabled for a LONG time. */
\r
1488 vTaskSuspendAll();
\r
1490 /* Run through all the lists that could potentially contain a TCB and
\r
1491 report the task name, state and stack high water mark. */
\r
1493 *pcWriteBuffer = ( signed char ) 0x00;
\r
1494 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1496 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1502 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1504 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
\r
1506 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1508 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1510 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
\r
1513 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1515 prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
\r
1518 #if( INCLUDE_vTaskDelete == 1 )
\r
1520 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1522 prvListTaskWithinSingleList( pcWriteBuffer, &xTasksWaitingTermination, tskDELETED_CHAR );
\r
1527 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1529 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1531 prvListTaskWithinSingleList( pcWriteBuffer, &xSuspendedTaskList, tskSUSPENDED_CHAR );
\r
1540 /*----------------------------------------------------------*/
\r
1542 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1544 void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
\r
1546 unsigned portBASE_TYPE uxQueue;
\r
1547 unsigned long ulTotalRunTime;
\r
1549 /* This is a VERY costly function that should be used for debug only.
\r
1550 It leaves interrupts disabled for a LONG time. */
\r
1552 vTaskSuspendAll();
\r
1554 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1555 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
\r
1557 ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
\r
1560 /* Divide ulTotalRunTime by 100 to make the percentage caluclations
\r
1561 simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
\r
1562 ulTotalRunTime /= 100UL;
\r
1564 /* Run through all the lists that could potentially contain a TCB,
\r
1565 generating a table of run timer percentages in the provided
\r
1568 *pcWriteBuffer = ( signed char ) 0x00;
\r
1569 strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
\r
1571 uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
\r
1577 if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
\r
1579 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
\r
1581 }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
\r
1583 if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
\r
1585 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
\r
1588 if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
\r
1590 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
\r
1593 #if ( INCLUDE_vTaskDelete == 1 )
\r
1595 if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
\r
1597 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTime );
\r
1602 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1604 if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
\r
1606 prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTime );
\r
1615 /*----------------------------------------------------------*/
\r
1617 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
\r
1619 xTaskHandle xTaskGetIdleTaskHandle( void )
\r
1621 /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
\r
1622 started, then xIdleTaskHandle will be NULL. */
\r
1623 configASSERT( ( xIdleTaskHandle != NULL ) );
\r
1624 return xIdleTaskHandle;
\r
1628 /*----------------------------------------------------------*/
\r
1630 #if ( configUSE_TICKLESS_IDLE == 1 )
\r
1632 void vTaskStepTick( portTickType xTicksToJump )
\r
1634 configASSERT( xTicksToJump <= xNextTaskUnblockTime );
\r
1635 xTickCount += xTicksToJump;
\r
1640 /*-----------------------------------------------------------
\r
1641 * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
\r
1642 * documented in task.h
\r
1643 *----------------------------------------------------------*/
\r
1645 void vTaskIncrementTick( void )
\r
1649 /* Called by the portable layer each time a tick interrupt occurs.
\r
1650 Increments the tick then checks to see if the new tick value will cause any
\r
1651 tasks to be unblocked. */
\r
1652 traceTASK_INCREMENT_TICK( xTickCount );
\r
1653 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1656 if( xTickCount == ( portTickType ) 0U )
\r
1660 /* Tick count has overflowed so we need to swap the delay lists.
\r
1661 If there are any items in pxDelayedTaskList here then there is
\r
1663 configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );
\r
1665 pxTemp = pxDelayedTaskList;
\r
1666 pxDelayedTaskList = pxOverflowDelayedTaskList;
\r
1667 pxOverflowDelayedTaskList = pxTemp;
\r
1668 xNumOfOverflows++;
\r
1670 if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
\r
1672 /* The new current delayed list is empty. Set
\r
1673 xNextTaskUnblockTime to the maximum possible value so it is
\r
1674 extremely unlikely that the
\r
1675 if( xTickCount >= xNextTaskUnblockTime ) test will pass until
\r
1676 there is an item in the delayed list. */
\r
1677 xNextTaskUnblockTime = portMAX_DELAY;
\r
1681 /* The new current delayed list is not empty, get the value of
\r
1682 the item at the head of the delayed list. This is the time at
\r
1683 which the task at the head of the delayed list should be removed
\r
1684 from the Blocked state. */
\r
1685 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
\r
1686 xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
\r
1690 /* See if this tick has made a timeout expire. */
\r
1691 prvCheckDelayedTasks();
\r
1697 /* The tick hook gets called at regular intervals, even if the
\r
1698 scheduler is locked. */
\r
1699 #if ( configUSE_TICK_HOOK == 1 )
\r
1701 vApplicationTickHook();
\r
1706 #if ( configUSE_TICK_HOOK == 1 )
\r
1708 /* Guard against the tick hook being called when the missed tick
\r
1709 count is being unwound (when the scheduler is being unlocked. */
\r
1710 if( uxMissedTicks == ( unsigned portBASE_TYPE ) 0U )
\r
1712 vApplicationTickHook();
\r
1717 /*-----------------------------------------------------------*/
\r
1719 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1721 void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
\r
1725 /* If xTask is NULL then we are setting our own task hook. */
\r
1726 if( xTask == NULL )
\r
1728 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1732 xTCB = ( tskTCB * ) xTask;
\r
1735 /* Save the hook function in the TCB. A critical section is required as
\r
1736 the value can be accessed from an interrupt. */
\r
1737 taskENTER_CRITICAL();
\r
1738 xTCB->pxTaskTag = pxHookFunction;
\r
1739 taskEXIT_CRITICAL();
\r
1743 /*-----------------------------------------------------------*/
\r
1745 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1747 pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
\r
1750 pdTASK_HOOK_CODE xReturn;
\r
1752 /* If xTask is NULL then we are setting our own task hook. */
\r
1753 if( xTask == NULL )
\r
1755 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1759 xTCB = ( tskTCB * ) xTask;
\r
1762 /* Save the hook function in the TCB. A critical section is required as
\r
1763 the value can be accessed from an interrupt. */
\r
1764 taskENTER_CRITICAL();
\r
1765 xReturn = xTCB->pxTaskTag;
\r
1766 taskEXIT_CRITICAL();
\r
1772 /*-----------------------------------------------------------*/
\r
1774 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
1776 portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
\r
1779 portBASE_TYPE xReturn;
\r
1781 /* If xTask is NULL then we are calling our own task hook. */
\r
1782 if( xTask == NULL )
\r
1784 xTCB = ( tskTCB * ) pxCurrentTCB;
\r
1788 xTCB = ( tskTCB * ) xTask;
\r
1791 if( xTCB->pxTaskTag != NULL )
\r
1793 xReturn = xTCB->pxTaskTag( pvParameter );
\r
1804 /*-----------------------------------------------------------*/
\r
1806 void vTaskSwitchContext( void )
\r
1808 if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
\r
1810 /* The scheduler is currently suspended - do not allow a context
\r
1812 xMissedYield = pdTRUE;
\r
1816 traceTASK_SWITCHED_OUT();
\r
1818 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
1820 unsigned long ulTempCounter;
\r
1822 #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
\r
1823 portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter );
\r
1825 ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
\r
1828 /* Add the amount of time the task has been running to the accumulated
\r
1829 time so far. The time the task started running was stored in
\r
1830 ulTaskSwitchedInTime. Note that there is no overflow protection here
\r
1831 so count values are only valid until the timer overflows. Generally
\r
1832 this will be about 1 hour assuming a 1uS timer increment. */
\r
1833 pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
\r
1834 ulTaskSwitchedInTime = ulTempCounter;
\r
1838 taskFIRST_CHECK_FOR_STACK_OVERFLOW();
\r
1839 taskSECOND_CHECK_FOR_STACK_OVERFLOW();
\r
1841 taskSELECT_HIGHEST_PRIORITY_TASK();
\r
1843 traceTASK_SWITCHED_IN();
\r
1846 /*-----------------------------------------------------------*/
\r
1848 void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
\r
1850 portTickType xTimeToWake;
\r
1852 configASSERT( pxEventList );
\r
1854 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1855 SCHEDULER SUSPENDED. */
\r
1857 /* Place the event list item of the TCB in the appropriate event list.
\r
1858 This is placed in the list in priority order so the highest priority task
\r
1859 is the first to be woken by the event. */
\r
1860 vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1862 /* We must remove ourselves from the ready list before adding ourselves
\r
1863 to the blocked list as the same list item is used for both lists. We have
\r
1864 exclusive access to the ready lists as the scheduler is locked. */
\r
1865 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1867 /* The current task must be in a ready list, so there is no need to
\r
1868 check, and the port reset macro can be called directly. */
\r
1869 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1872 #if ( INCLUDE_vTaskSuspend == 1 )
\r
1874 if( xTicksToWait == portMAX_DELAY )
\r
1876 /* Add ourselves to the suspended task list instead of a delayed task
\r
1877 list to ensure we are not woken by a timing event. We will block
\r
1879 vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
1883 /* Calculate the time at which the task should be woken if the event does
\r
1884 not occur. This may overflow but this doesn't matter. */
\r
1885 xTimeToWake = xTickCount + xTicksToWait;
\r
1886 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1891 /* Calculate the time at which the task should be woken if the event does
\r
1892 not occur. This may overflow but this doesn't matter. */
\r
1893 xTimeToWake = xTickCount + xTicksToWait;
\r
1894 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1898 /*-----------------------------------------------------------*/
\r
1900 #if configUSE_TIMERS == 1
\r
1902 void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
\r
1904 portTickType xTimeToWake;
\r
1906 configASSERT( pxEventList );
\r
1908 /* This function should not be called by application code hence the
\r
1909 'Restricted' in its name. It is not part of the public API. It is
\r
1910 designed for use by kernel code, and has special calling requirements -
\r
1911 it should be called from a critical section. */
\r
1914 /* Place the event list item of the TCB in the appropriate event list.
\r
1915 In this case it is assume that this is the only task that is going to
\r
1916 be waiting on this event list, so the faster vListInsertEnd() function
\r
1917 can be used in place of vListInsert. */
\r
1918 vListInsertEnd( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
\r
1920 /* We must remove this task from the ready list before adding it to the
\r
1921 blocked list as the same list item is used for both lists. This
\r
1922 function is called form a critical section. */
\r
1923 if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
\r
1925 /* The current task must be in a ready list, so there is no need to
\r
1926 check, and the port reset macro can be called directly. */
\r
1927 portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
\r
1930 /* Calculate the time at which the task should be woken if the event does
\r
1931 not occur. This may overflow but this doesn't matter. */
\r
1932 xTimeToWake = xTickCount + xTicksToWait;
\r
1934 traceTASK_DELAY_UNTIL();
\r
1935 prvAddCurrentTaskToDelayedList( xTimeToWake );
\r
1938 #endif /* configUSE_TIMERS */
\r
1939 /*-----------------------------------------------------------*/
\r
1941 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
\r
1943 tskTCB *pxUnblockedTCB;
\r
1944 portBASE_TYPE xReturn;
\r
1946 /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
\r
1947 SCHEDULER SUSPENDED. It can also be called from within an ISR. */
\r
1949 /* The event list is sorted in priority order, so we can remove the
\r
1950 first in the list, remove the TCB from the delayed list, and add
\r
1951 it to the ready list.
\r
1953 If an event is for a queue that is locked then this function will never
\r
1954 get called - the lock count on the queue will get modified instead. This
\r
1955 means we can always expect exclusive access to the event list here.
\r
1957 This function assumes that a check has already been made to ensure that
\r
1958 pxEventList is not empty. */
\r
1959 pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
\r
1960 configASSERT( pxUnblockedTCB );
\r
1961 uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
\r
1963 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
1965 uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
\r
1966 prvAddTaskToReadyQueue( pxUnblockedTCB );
\r
1970 /* We cannot access the delayed or ready lists, so will hold this
\r
1971 task pending until the scheduler is resumed. */
\r
1972 vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
\r
1975 if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
\r
1977 /* Return true if the task removed from the event list has
\r
1978 a higher priority than the calling task. This allows
\r
1979 the calling task to know if it should force a context
\r
1985 xReturn = pdFALSE;
\r
1990 /*-----------------------------------------------------------*/
\r
1992 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
\r
1994 configASSERT( pxTimeOut );
\r
1995 pxTimeOut->xOverflowCount = xNumOfOverflows;
\r
1996 pxTimeOut->xTimeOnEntering = xTickCount;
\r
1998 /*-----------------------------------------------------------*/
\r
2000 portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
\r
2002 portBASE_TYPE xReturn;
\r
2004 configASSERT( pxTimeOut );
\r
2005 configASSERT( pxTicksToWait );
\r
2007 taskENTER_CRITICAL();
\r
2009 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2010 /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
\r
2011 the maximum block time then the task should block indefinitely, and
\r
2012 therefore never time out. */
\r
2013 if( *pxTicksToWait == portMAX_DELAY )
\r
2015 xReturn = pdFALSE;
\r
2017 else /* We are not blocking indefinitely, perform the checks below. */
\r
2020 if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
\r
2022 /* The tick count is greater than the time at which vTaskSetTimeout()
\r
2023 was called, but has also overflowed since vTaskSetTimeOut() was called.
\r
2024 It must have wrapped all the way around and gone past us again. This
\r
2025 passed since vTaskSetTimeout() was called. */
\r
2028 else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
\r
2030 /* Not a genuine timeout. Adjust parameters for time remaining. */
\r
2031 *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
\r
2032 vTaskSetTimeOutState( pxTimeOut );
\r
2033 xReturn = pdFALSE;
\r
2040 taskEXIT_CRITICAL();
\r
2044 /*-----------------------------------------------------------*/
\r
2046 void vTaskMissedYield( void )
\r
2048 xMissedYield = pdTRUE;
\r
2050 /*-----------------------------------------------------------*/
\r
2052 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2053 unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
\r
2055 unsigned portBASE_TYPE uxReturn;
\r
2058 if( xTask != NULL )
\r
2060 pxTCB = ( tskTCB * ) xTask;
\r
2061 uxReturn = pxTCB->uxTaskNumber;
\r
2071 /*-----------------------------------------------------------*/
\r
2073 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2074 void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
\r
2078 if( xTask != NULL )
\r
2080 pxTCB = ( tskTCB * ) xTask;
\r
2081 pxTCB->uxTaskNumber = uxHandle;
\r
2088 * -----------------------------------------------------------
\r
2090 * ----------------------------------------------------------
\r
2092 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
\r
2093 * language extensions. The equivalent prototype for this function is:
\r
2095 * void prvIdleTask( void *pvParameters );
\r
2098 static portTASK_FUNCTION( prvIdleTask, pvParameters )
\r
2100 /* Stop warnings. */
\r
2101 ( void ) pvParameters;
\r
2105 /* See if any tasks have been deleted. */
\r
2106 prvCheckTasksWaitingTermination();
\r
2108 #if ( configUSE_PREEMPTION == 0 )
\r
2110 /* If we are not using preemption we keep forcing a task switch to
\r
2111 see if any other task has become available. If we are using
\r
2112 preemption we don't need to do this as any task becoming available
\r
2113 will automatically get the processor anyway. */
\r
2118 #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
\r
2120 /* When using preemption tasks of equal priority will be
\r
2121 timesliced. If a task that is sharing the idle priority is ready
\r
2122 to run then the idle task should yield before the end of the
\r
2125 A critical region is not required here as we are just reading from
\r
2126 the list, and an occasional incorrect value will not matter. If
\r
2127 the ready list at the idle priority contains more than one task
\r
2128 then a task other than the idle task is ready to execute. */
\r
2129 if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
\r
2136 #if ( configUSE_IDLE_HOOK == 1 )
\r
2138 extern void vApplicationIdleHook( void );
\r
2140 /* Call the user defined function from within the idle task. This
\r
2141 allows the application designer to add background functionality
\r
2142 without the overhead of a separate task.
\r
2143 NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
\r
2144 CALL A FUNCTION THAT MIGHT BLOCK. */
\r
2145 vApplicationIdleHook();
\r
2149 #if ( configUSE_TICKLESS_IDLE == 1 )
\r
2151 portTickType xExpectedIdleTime;
\r
2152 /* If the expected idle time is 1 then the idle time would end at
\r
2153 the end of the current time slice. The idle time must be at least
\r
2154 2 to ensure any pended ticks between this point and the tick being
\r
2155 stopped can be legitimately stepped over when the tick suppression
\r
2156 routines returns. */
\r
2157 const portTickType xMinimumExpectedIdleTime = ( portTickType ) 2;
\r
2159 /* Don't enter low power if there are still tasks waiting
\r
2161 if( uxTasksDeleted == 0 )
\r
2163 /* It is not desirable to suspend then resume the scheduler on
\r
2164 each iteration of the idle task. Therefore, a preliminary
\r
2165 test of the expected idle time is performed without the
\r
2166 scheduler suspended. The result here is not necessarily
\r
2168 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2170 if( xExpectedIdleTime >= xMinimumExpectedIdleTime )
\r
2172 vTaskSuspendAll();
\r
2174 /* Now the scheduler is suspended, the expected idle
\r
2175 time can be sampled again, and this time its value can
\r
2177 configASSERT( xNextTaskUnblockTime >= xTickCount );
\r
2178 xExpectedIdleTime = prvGetExpectedIdleTime();
\r
2180 if( xExpectedIdleTime >= xMinimumExpectedIdleTime )
\r
2182 portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
\r
2191 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
\r
2199 /*-----------------------------------------------------------
\r
2200 * File private functions documented at the top of the file.
\r
2201 *----------------------------------------------------------*/
\r
2205 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
\r
2207 /* Store the function name in the TCB. */
\r
2208 #if configMAX_TASK_NAME_LEN > 1
\r
2210 /* Don't bring strncpy into the build unnecessarily. */
\r
2211 strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
\r
2214 pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
\r
2216 /* This is used as an array index so must ensure it's not too large. First
\r
2217 remove the privilege bit if one is present. */
\r
2218 if( uxPriority >= configMAX_PRIORITIES )
\r
2220 uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
\r
2223 pxTCB->uxPriority = uxPriority;
\r
2224 #if ( configUSE_MUTEXES == 1 )
\r
2226 pxTCB->uxBasePriority = uxPriority;
\r
2230 vListInitialiseItem( &( pxTCB->xGenericListItem ) );
\r
2231 vListInitialiseItem( &( pxTCB->xEventListItem ) );
\r
2233 /* Set the pxTCB as a link back from the xListItem. This is so we can get
\r
2234 back to the containing TCB from a generic item in a list. */
\r
2235 listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
\r
2237 /* Event lists are always in priority order. */
\r
2238 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
\r
2239 listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
\r
2241 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2243 pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
\r
2247 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
\r
2249 pxTCB->pxTaskTag = NULL;
\r
2253 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2255 pxTCB->ulRunTimeCounter = 0UL;
\r
2259 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2261 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
\r
2265 ( void ) xRegions;
\r
2266 ( void ) usStackDepth;
\r
2270 /*-----------------------------------------------------------*/
\r
2272 #if ( portUSING_MPU_WRAPPERS == 1 )
\r
2274 void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
\r
2278 if( xTaskToModify == pxCurrentTCB )
\r
2280 xTaskToModify = NULL;
\r
2283 /* If null is passed in here then we are deleting ourselves. */
\r
2284 pxTCB = prvGetTCBFromHandle( xTaskToModify );
\r
2286 vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
\r
2288 /*-----------------------------------------------------------*/
\r
2291 static void prvInitialiseTaskLists( void )
\r
2293 unsigned portBASE_TYPE uxPriority;
\r
2295 for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
\r
2297 vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
\r
2300 vListInitialise( ( xList * ) &xDelayedTaskList1 );
\r
2301 vListInitialise( ( xList * ) &xDelayedTaskList2 );
\r
2302 vListInitialise( ( xList * ) &xPendingReadyList );
\r
2304 #if ( INCLUDE_vTaskDelete == 1 )
\r
2306 vListInitialise( ( xList * ) &xTasksWaitingTermination );
\r
2310 #if ( INCLUDE_vTaskSuspend == 1 )
\r
2312 vListInitialise( ( xList * ) &xSuspendedTaskList );
\r
2316 /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
\r
2318 pxDelayedTaskList = &xDelayedTaskList1;
\r
2319 pxOverflowDelayedTaskList = &xDelayedTaskList2;
\r
2321 /*-----------------------------------------------------------*/
\r
2323 static void prvCheckTasksWaitingTermination( void )
\r
2325 #if ( INCLUDE_vTaskDelete == 1 )
\r
2327 portBASE_TYPE xListIsEmpty;
\r
2329 /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
\r
2330 too often in the idle task. */
\r
2331 if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
\r
2333 vTaskSuspendAll();
\r
2334 xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
\r
2337 if( xListIsEmpty == pdFALSE )
\r
2341 taskENTER_CRITICAL();
\r
2343 pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
\r
2344 uxListRemove( &( pxTCB->xGenericListItem ) );
\r
2345 --uxCurrentNumberOfTasks;
\r
2348 taskEXIT_CRITICAL();
\r
2350 prvDeleteTCB( pxTCB );
\r
2356 /*-----------------------------------------------------------*/
\r
2358 static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
\r
2360 /* The list item will be inserted in wake time order. */
\r
2361 listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
\r
2363 if( xTimeToWake < xTickCount )
\r
2365 /* Wake time has overflowed. Place this item in the overflow list. */
\r
2366 vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2370 /* The wake time has not overflowed, so we can use the current block list. */
\r
2371 vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
\r
2373 /* If the task entering the blocked state was placed at the head of the
\r
2374 list of blocked tasks then xNextTaskUnblockTime needs to be updated
\r
2376 if( xTimeToWake < xNextTaskUnblockTime )
\r
2378 xNextTaskUnblockTime = xTimeToWake;
\r
2382 /*-----------------------------------------------------------*/
\r
2384 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
\r
2388 /* Allocate space for the TCB. Where the memory comes from depends on
\r
2389 the implementation of the port malloc function. */
\r
2390 pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
\r
2392 if( pxNewTCB != NULL )
\r
2394 /* Allocate space for the stack used by the task being created.
\r
2395 The base of the stack memory stored in the TCB so the task can
\r
2396 be deleted later if required. */
\r
2397 pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
\r
2399 if( pxNewTCB->pxStack == NULL )
\r
2401 /* Could not allocate the stack. Delete the allocated TCB. */
\r
2402 vPortFree( pxNewTCB );
\r
2407 /* Just to help debugging. */
\r
2408 memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
\r
2414 /*-----------------------------------------------------------*/
\r
2416 #if ( configUSE_TRACE_FACILITY == 1 )
\r
2418 static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
\r
2420 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2421 unsigned short usStackRemaining;
\r
2422 PRIVILEGED_DATA static char pcStatusString[ configMAX_TASK_NAME_LEN + 30 ];
\r
2424 /* Write the details of all the TCB's in pxList into the buffer. */
\r
2425 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2428 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2429 #if ( portSTACK_GROWTH > 0 )
\r
2431 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
\r
2435 usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
\r
2439 sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
\r
2440 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
\r
2442 } while( pxNextTCB != pxFirstTCB );
\r
2446 /*-----------------------------------------------------------*/
\r
2448 #if ( configGENERATE_RUN_TIME_STATS == 1 )
\r
2450 static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
\r
2452 volatile tskTCB *pxNextTCB, *pxFirstTCB;
\r
2453 unsigned long ulStatsAsPercentage;
\r
2455 /* Write the run time stats of all the TCB's in pxList into the buffer. */
\r
2456 listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
\r
2459 /* Get next TCB in from the list. */
\r
2460 listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
\r
2462 /* Divide by zero check. */
\r
2463 if( ulTotalRunTime > 0UL )
\r
2465 /* Has the task run at all? */
\r
2466 if( pxNextTCB->ulRunTimeCounter == 0UL )
\r
2468 /* The task has used no CPU time at all. */
\r
2469 sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
\r
2473 /* What percentage of the total run time has the task used?
\r
2474 This will always be rounded down to the nearest integer.
\r
2475 ulTotalRunTime has already been divided by 100. */
\r
2476 ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime;
\r
2478 if( ulStatsAsPercentage > 0UL )
\r
2480 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2482 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
\r
2486 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2487 printf() library can be used. */
\r
2488 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
\r
2494 /* If the percentage is zero here then the task has
\r
2495 consumed less than 1% of the total run time. */
\r
2496 #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
\r
2498 sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
\r
2502 /* sizeof( int ) == sizeof( long ) so a smaller
\r
2503 printf() library can be used. */
\r
2504 sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
\r
2510 strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
\r
2513 } while( pxNextTCB != pxFirstTCB );
\r
2517 /*-----------------------------------------------------------*/
\r
2519 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
\r
2521 static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
\r
2523 register unsigned short usCount = 0U;
\r
2525 while( *pucStackByte == tskSTACK_FILL_BYTE )
\r
2527 pucStackByte -= portSTACK_GROWTH;
\r
2531 usCount /= sizeof( portSTACK_TYPE );
\r
2537 /*-----------------------------------------------------------*/
\r
2539 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
\r
2541 unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
\r
2544 unsigned char *pcEndOfStack;
\r
2545 unsigned portBASE_TYPE uxReturn;
\r
2547 pxTCB = prvGetTCBFromHandle( xTask );
\r
2549 #if portSTACK_GROWTH < 0
\r
2551 pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
\r
2555 pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
\r
2559 uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
\r
2565 /*-----------------------------------------------------------*/
\r
2567 #if ( INCLUDE_vTaskDelete == 1 )
\r
2569 static void prvDeleteTCB( tskTCB *pxTCB )
\r
2571 /* This call is required specifically for the TriCore port. It must be
\r
2572 above the vPortFree() calls. The call is also used by ports/demos that
\r
2573 want to allocate and clean RAM statically. */
\r
2574 portCLEAN_UP_TCB( pxTCB );
\r
2576 /* Free up the memory allocated by the scheduler for the task. It is up to
\r
2577 the task to free any memory allocated at the application level. */
\r
2578 vPortFreeAligned( pxTCB->pxStack );
\r
2579 vPortFree( pxTCB );
\r
2585 /*-----------------------------------------------------------*/
\r
2587 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
\r
2589 xTaskHandle xTaskGetCurrentTaskHandle( void )
\r
2591 xTaskHandle xReturn;
\r
2593 /* A critical section is not required as this is not called from
\r
2594 an interrupt and the current TCB will always be the same for any
\r
2595 individual execution thread. */
\r
2596 xReturn = pxCurrentTCB;
\r
2603 /*-----------------------------------------------------------*/
\r
2605 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
\r
2607 portBASE_TYPE xTaskGetSchedulerState( void )
\r
2609 portBASE_TYPE xReturn;
\r
2611 if( xSchedulerRunning == pdFALSE )
\r
2613 xReturn = taskSCHEDULER_NOT_STARTED;
\r
2617 if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
\r
2619 xReturn = taskSCHEDULER_RUNNING;
\r
2623 xReturn = taskSCHEDULER_SUSPENDED;
\r
2631 /*-----------------------------------------------------------*/
\r
2633 #if ( configUSE_MUTEXES == 1 )
\r
2635 void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
\r
2637 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2639 /* If the mutex was given back by an interrupt while the queue was
\r
2640 locked then the mutex holder might now be NULL. */
\r
2641 if( pxMutexHolder != NULL )
\r
2643 if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
\r
2645 /* Adjust the mutex holder state to account for its new priority. */
\r
2646 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
\r
2648 /* If the task being modified is in the ready state it will need to
\r
2649 be moved into a new list. */
\r
2650 if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
\r
2652 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2654 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2657 /* Inherit the priority before being moved into the new list. */
\r
2658 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2659 prvAddTaskToReadyQueue( pxTCB );
\r
2663 /* Just inherit the priority. */
\r
2664 pxTCB->uxPriority = pxCurrentTCB->uxPriority;
\r
2667 traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
\r
2673 /*-----------------------------------------------------------*/
\r
2675 #if ( configUSE_MUTEXES == 1 )
\r
2677 void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
\r
2679 tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
\r
2681 if( pxMutexHolder != NULL )
\r
2683 if( pxTCB->uxPriority != pxTCB->uxBasePriority )
\r
2685 /* We must be the running task to be able to give the mutex back.
\r
2686 Remove ourselves from the ready list we currently appear in. */
\r
2687 if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
\r
2689 taskRESET_READY_PRIORITY( pxTCB->uxPriority );
\r
2692 /* Disinherit the priority before adding the task into the new
\r
2694 traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
\r
2695 pxTCB->uxPriority = pxTCB->uxBasePriority;
\r
2696 listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
\r
2697 prvAddTaskToReadyQueue( pxTCB );
\r
2703 /*-----------------------------------------------------------*/
\r
2705 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2707 void vTaskEnterCritical( void )
\r
2709 portDISABLE_INTERRUPTS();
\r
2711 if( xSchedulerRunning != pdFALSE )
\r
2713 ( pxCurrentTCB->uxCriticalNesting )++;
\r
2718 /*-----------------------------------------------------------*/
\r
2720 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
\r
2722 void vTaskExitCritical( void )
\r
2724 if( xSchedulerRunning != pdFALSE )
\r
2726 if( pxCurrentTCB->uxCriticalNesting > 0U )
\r
2728 ( pxCurrentTCB->uxCriticalNesting )--;
\r
2730 if( pxCurrentTCB->uxCriticalNesting == 0U )
\r
2732 portENABLE_INTERRUPTS();
\r
2739 /*-----------------------------------------------------------*/
\r
projects / freertos / blob