diff options
Diffstat (limited to 'contrib/FreeRTOS_Library/tasks.c')
| -rw-r--r-- | contrib/FreeRTOS_Library/tasks.c | 2346 |
1 files changed, 0 insertions, 2346 deletions
diff --git a/contrib/FreeRTOS_Library/tasks.c b/contrib/FreeRTOS_Library/tasks.c deleted file mode 100644 index 9440775..0000000 --- a/contrib/FreeRTOS_Library/tasks.c +++ /dev/null @@ -1,2346 +0,0 @@ -/*
- FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd.
-
- ***************************************************************************
- * *
- * If you are: *
- * *
- * + New to FreeRTOS, *
- * + Wanting to learn FreeRTOS or multitasking in general quickly *
- * + Looking for basic training, *
- * + Wanting to improve your FreeRTOS skills and productivity *
- * *
- * then take a look at the FreeRTOS books - available as PDF or paperback *
- * *
- * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
- * http://www.FreeRTOS.org/Documentation *
- * *
- * A pdf reference manual is also available. Both are usually delivered *
- * to your inbox within 20 minutes to two hours when purchased between 8am *
- * and 8pm GMT (although please allow up to 24 hours in case of *
- * exceptional circumstances). Thank you for your support! *
- * *
- ***************************************************************************
-
- This file is part of the FreeRTOS distribution.
-
- FreeRTOS is free software; you can redistribute it and/or modify it under
- the terms of the GNU General Public License (version 2) as published by the
- Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
- ***NOTE*** The exception to the GPL is included to allow you to distribute
- a combined work that includes FreeRTOS without being obliged to provide the
- source code for proprietary components outside of the FreeRTOS kernel.
- FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
- ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
- FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
- more details. You should have received a copy of the GNU General Public
- License and the FreeRTOS license exception along with FreeRTOS; if not it
- can be viewed here: http://www.freertos.org/a00114.html and also obtained
- by writing to Richard Barry, contact details for whom are available on the
- FreeRTOS WEB site.
-
- 1 tab == 4 spaces!
-
- http://www.FreeRTOS.org - Documentation, latest information, license and
- contact details.
-
- http://www.SafeRTOS.com - A version that is certified for use in safety
- critical systems.
-
- http://www.OpenRTOS.com - Commercial support, development, porting,
- licensing and training services.
-*/
-
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers. That should only be done when
-task.h is included from an application file. */
-#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#include "FreeRTOS.h"
-#include "task.h"
-#include "StackMacros.h"
-
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-/*
- * Macro to define the amount of stack available to the idle task.
- */
-#define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
-
-/*
- * Task control block. A task control block (TCB) is allocated to each task,
- * and stores the context of the task.
- */
-typedef struct tskTaskControlBlock
-{
- 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 STRUCT. */
-
- #if ( portUSING_MPU_WRAPPERS == 1 )
- xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE STRUCT. */
- #endif
-
- xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
- xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
- unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
- portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
- signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
-
- #if ( portSTACK_GROWTH > 0 )
- portSTACK_TYPE *pxEndOfStack; /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
- #endif
-
- #if ( portCRITICAL_NESTING_IN_TCB == 1 )
- unsigned portBASE_TYPE uxCriticalNesting;
- #endif
-
- #if ( configUSE_TRACE_FACILITY == 1 )
- unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
- #endif
-
- #if ( configUSE_MUTEXES == 1 )
- unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
- #endif
-
- #if ( configUSE_APPLICATION_TASK_TAG == 1 )
- pdTASK_HOOK_CODE pxTaskTag;
- #endif
-
- #if ( configGENERATE_RUN_TIME_STATS == 1 )
- unsigned long ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
- #endif
-
-} tskTCB;
-
-
-/*
- * Some kernel aware debuggers require data to be viewed to be global, rather
- * than file scope.
- */
-#ifdef portREMOVE_STATIC_QUALIFIER
- #define static
-#endif
-
-/*lint -e956 */
-PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
-
-/* Lists for ready and blocked tasks. --------------------*/
-
-PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
-PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
-PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
-PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
-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. */
-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. */
-
-#if ( INCLUDE_vTaskDelete == 1 )
-
- PRIVILEGED_DATA static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
- PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
-
-#endif
-
-#if ( INCLUDE_vTaskSuspend == 1 )
-
- PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
-
-#endif
-
-/* File private variables. --------------------------------*/
-PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
-PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0;
-PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
-PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
-PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
-PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
-PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
-PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
-PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
-PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0;
-
-#if ( configGENERATE_RUN_TIME_STATS == 1 )
-
- PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
- PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
- static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
-
-#endif
-
-/* Debugging and trace facilities private variables and macros. ------------*/
-
-/*
- * The value used to fill the stack of a task when the task is created. This
- * is used purely for checking the high water mark for tasks.
- */
-#define tskSTACK_FILL_BYTE ( 0xa5 )
-
-/*
- * Macros used by vListTask to indicate which state a task is in.
- */
-#define tskBLOCKED_CHAR ( ( signed char ) 'B' )
-#define tskREADY_CHAR ( ( signed char ) 'R' )
-#define tskDELETED_CHAR ( ( signed char ) 'D' )
-#define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
-
-/*
- * Macros and private variables used by the trace facility.
- */
-#if ( configUSE_TRACE_FACILITY == 1 )
-
- #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned long ) ( sizeof( unsigned long ) + sizeof( unsigned long ) ) )
- PRIVILEGED_DATA static volatile signed char * volatile pcTraceBuffer;
- PRIVILEGED_DATA static signed char *pcTraceBufferStart;
- PRIVILEGED_DATA static signed char *pcTraceBufferEnd;
- PRIVILEGED_DATA static signed portBASE_TYPE xTracing = pdFALSE;
- static unsigned portBASE_TYPE uxPreviousTask = 255;
- PRIVILEGED_DATA static char pcStatusString[ 50 ];
-
-#endif
-
-/*-----------------------------------------------------------*/
-
-/*
- * Macro that writes a trace of scheduler activity to a buffer. This trace
- * shows which task is running when and is very useful as a debugging tool.
- * As this macro is called each context switch it is a good idea to undefine
- * it if not using the facility.
- */
-#if ( configUSE_TRACE_FACILITY == 1 )
-
- #define vWriteTraceToBuffer() \
- { \
- if( xTracing ) \
- { \
- if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
- { \
- if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
- { \
- uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
- *( unsigned long * ) pcTraceBuffer = ( unsigned long ) xTickCount; \
- pcTraceBuffer += sizeof( unsigned long ); \
- *( unsigned long * ) pcTraceBuffer = ( unsigned long ) uxPreviousTask; \
- pcTraceBuffer += sizeof( unsigned long ); \
- } \
- else \
- { \
- xTracing = pdFALSE; \
- } \
- } \
- } \
- }
-
-#else
-
- #define vWriteTraceToBuffer()
-
-#endif
-/*-----------------------------------------------------------*/
-
-/*
- * Place the task represented by pxTCB into the appropriate ready queue for
- * the task. It is inserted at the end of the list. One quirk of this is
- * that if the task being inserted is at the same priority as the currently
- * executing task, then it will only be rescheduled after the currently
- * executing task has been rescheduled.
- */
-#define prvAddTaskToReadyQueue( pxTCB ) \
-{ \
- if( pxTCB->uxPriority > uxTopReadyPriority ) \
- { \
- uxTopReadyPriority = pxTCB->uxPriority; \
- } \
- vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \
-}
-/*-----------------------------------------------------------*/
-
-/*
- * Macro that looks at the list of tasks that are currently delayed to see if
- * any require waking.
- *
- * Tasks are stored in the queue in the order of their wake time - meaning
- * once one tasks has been found whose timer has not expired we need not look
- * any further down the list.
- */
-#define prvCheckDelayedTasks() \
-{ \
-register tskTCB *pxTCB; \
- \
- while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \
- { \
- if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \
- { \
- break; \
- } \
- vListRemove( &( pxTCB->xGenericListItem ) ); \
- /* Is the task waiting on an event also? */ \
- if( pxTCB->xEventListItem.pvContainer ) \
- { \
- vListRemove( &( pxTCB->xEventListItem ) ); \
- } \
- prvAddTaskToReadyQueue( pxTCB ); \
- } \
-}
-/*-----------------------------------------------------------*/
-
-/*
- * Several functions take an xTaskHandle parameter that can optionally be NULL,
- * where NULL is used to indicate that the handle of the currently executing
- * task should be used in place of the parameter. This macro simply checks to
- * see if the parameter is NULL and returns a pointer to the appropriate TCB.
- */
-#define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )
-
-
-/* File private functions. --------------------------------*/
-
-/*
- * Utility to ready a TCB for a given task. Mainly just copies the parameters
- * into the TCB structure.
- */
-static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
-
-/*
- * Utility to ready all the lists used by the scheduler. This is called
- * automatically upon the creation of the first task.
- */
-static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
-
-/*
- * The idle task, which as all tasks is implemented as a never ending loop.
- * The idle task is automatically created and added to the ready lists upon
- * creation of the first user task.
- *
- * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
- * language extensions. The equivalent prototype for this function is:
- *
- * void prvIdleTask( void *pvParameters );
- *
- */
-static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
-
-/*
- * Utility to free all memory allocated by the scheduler to hold a TCB,
- * including the stack pointed to by the TCB.
- *
- * This does not free memory allocated by the task itself (i.e. memory
- * allocated by calls to pvPortMalloc from within the tasks application code).
- */
-#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
-
- static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
-
-#endif
-
-/*
- * Used only by the idle task. This checks to see if anything has been placed
- * in the list of tasks waiting to be deleted. If so the task is cleaned up
- * and its TCB deleted.
- */
-static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
-
-/*
- * Allocates memory from the heap for a TCB and associated stack. Checks the
- * allocation was successful.
- */
-static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
-
-/*
- * Called from vTaskList. vListTasks details all the tasks currently under
- * control of the scheduler. The tasks may be in one of a number of lists.
- * prvListTaskWithinSingleList accepts a list and details the tasks from
- * within just that list.
- *
- * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
- * NORMAL APPLICATION CODE.
- */
-#if ( configUSE_TRACE_FACILITY == 1 )
-
- static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
-
-#endif
-
-/*
- * When a task is created, the stack of the task is filled with a known value.
- * This function determines the 'high water mark' of the task stack by
- * determining how much of the stack remains at the original preset value.
- */
-#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
-
- static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
-
-#endif
-
-
-/*lint +e956 */
-
-
-
-/*-----------------------------------------------------------
- * TASK CREATION API documented in task.h
- *----------------------------------------------------------*/
-
-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 )
-{
-signed portBASE_TYPE xReturn;
-tskTCB * pxNewTCB;
-
- /* Allocate the memory required by the TCB and stack for the new task,
- checking that the allocation was successful. */
- pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
-
- if( pxNewTCB != NULL )
- {
- portSTACK_TYPE *pxTopOfStack;
-
- #if( portUSING_MPU_WRAPPERS == 1 )
- /* Should the task be created in privileged mode? */
- portBASE_TYPE xRunPrivileged;
- if( ( uxPriority & portPRIVILEGE_BIT ) != 0x00 )
- {
- xRunPrivileged = pdTRUE;
- }
- else
- {
- xRunPrivileged = pdFALSE;
- }
- uxPriority &= ~portPRIVILEGE_BIT;
- #endif /* portUSING_MPU_WRAPPERS == 1 */
-
- /* Calculate the top of stack address. This depends on whether the
- stack grows from high memory to low (as per the 80x86) or visa versa.
- portSTACK_GROWTH is used to make the result positive or negative as
- required by the port. */
- #if( portSTACK_GROWTH < 0 )
- {
- pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
- pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( unsigned long ) pxTopOfStack ) & ( ( unsigned long ) ~portBYTE_ALIGNMENT_MASK ) );
- }
- #else
- {
- pxTopOfStack = pxNewTCB->pxStack;
-
- /* If we want to use stack checking on architectures that use
- a positive stack growth direction then we also need to store the
- other extreme of the stack space. */
- pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
- }
- #endif
-
- /* Setup the newly allocated TCB with the initial state of the task. */
- prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
-
- /* Initialize the TCB stack to look as if the task was already running,
- but had been interrupted by the scheduler. The return address is set
- to the start of the task function. Once the stack has been initialised
- the top of stack variable is updated. */
- #if( portUSING_MPU_WRAPPERS == 1 )
- {
- pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
- }
- #else
- {
- pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
- }
- #endif
-
- if( ( void * ) pxCreatedTask != NULL )
- {
- /* Pass the TCB out - in an anonymous way. The calling function/
- task can use this as a handle to delete the task later if
- required.*/
- *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
- }
-
- /* We are going to manipulate the task queues to add this task to a
- ready list, so must make sure no interrupts occur. */
- portENTER_CRITICAL();
- {
- uxCurrentNumberOfTasks++;
- if( pxCurrentTCB == NULL )
- {
- /* There are no other tasks, or all the other tasks are in
- the suspended state - make this the current task. */
- pxCurrentTCB = pxNewTCB;
-
- if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
- {
- /* This is the first task to be created so do the preliminary
- initialisation required. We will not recover if this call
- fails, but we will report the failure. */
- prvInitialiseTaskLists();
- }
- }
- else
- {
- /* If the scheduler is not already running, make this task the
- current task if it is the highest priority task to be created
- so far. */
- if( xSchedulerRunning == pdFALSE )
- {
- if( pxCurrentTCB->uxPriority <= uxPriority )
- {
- pxCurrentTCB = pxNewTCB;
- }
- }
- }
-
- /* Remember the top priority to make context switching faster. Use
- the priority in pxNewTCB as this has been capped to a valid value. */
- if( pxNewTCB->uxPriority > uxTopUsedPriority )
- {
- uxTopUsedPriority = pxNewTCB->uxPriority;
- }
-
- #if ( configUSE_TRACE_FACILITY == 1 )
- {
- /* Add a counter into the TCB for tracing only. */
- pxNewTCB->uxTCBNumber = uxTaskNumber;
- }
- #endif
- uxTaskNumber++;
-
- prvAddTaskToReadyQueue( pxNewTCB );
-
- xReturn = pdPASS;
- traceTASK_CREATE( pxNewTCB );
- }
- portEXIT_CRITICAL();
- }
- else
- {
- xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
- traceTASK_CREATE_FAILED( pxNewTCB );
- }
-
- if( xReturn == pdPASS )
- {
- if( xSchedulerRunning != pdFALSE )
- {
- /* If the created task is of a higher priority than the current task
- then it should run now. */
- if( pxCurrentTCB->uxPriority < uxPriority )
- {
- portYIELD_WITHIN_API();
- }
- }
- }
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_vTaskDelete == 1 )
-
- void vTaskDelete( xTaskHandle pxTaskToDelete )
- {
- tskTCB *pxTCB;
-
- portENTER_CRITICAL();
- {
- /* Ensure a yield is performed if the current task is being
- deleted. */
- if( pxTaskToDelete == pxCurrentTCB )
- {
- pxTaskToDelete = NULL;
- }
-
- /* If null is passed in here then we are deleting ourselves. */
- pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
-
- /* Remove task from the ready list and place in the termination list.
- This will stop the task from be scheduled. The idle task will check
- the termination list and free up any memory allocated by the
- scheduler for the TCB and stack. */
- vListRemove( &( pxTCB->xGenericListItem ) );
-
- /* Is the task waiting on an event also? */
- if( pxTCB->xEventListItem.pvContainer )
- {
- vListRemove( &( pxTCB->xEventListItem ) );
- }
-
- vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
-
- /* Increment the ucTasksDeleted variable so the idle task knows
- there is a task that has been deleted and that it should therefore
- check the xTasksWaitingTermination list. */
- ++uxTasksDeleted;
-
- /* Increment the uxTaskNumberVariable also so kernel aware debuggers
- can detect that the task lists need re-generating. */
- uxTaskNumber++;
-
- traceTASK_DELETE( pxTCB );
- }
- portEXIT_CRITICAL();
-
- /* Force a reschedule if we have just deleted the current task. */
- if( xSchedulerRunning != pdFALSE )
- {
- if( ( void * ) pxTaskToDelete == NULL )
- {
- portYIELD_WITHIN_API();
- }
- }
- }
-
-#endif
-
-
-
-
-
-
-/*-----------------------------------------------------------
- * TASK CONTROL API documented in task.h
- *----------------------------------------------------------*/
-
-#if ( INCLUDE_vTaskDelayUntil == 1 )
-
- void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
- {
- portTickType xTimeToWake;
- portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
-
- vTaskSuspendAll();
- {
- /* Generate the tick time at which the task wants to wake. */
- xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
-
- if( xTickCount < *pxPreviousWakeTime )
- {
- /* The tick count has overflowed since this function was
- lasted called. In this case the only time we should ever
- actually delay is if the wake time has also overflowed,
- and the wake time is greater than the tick time. When this
- is the case it is as if neither time had overflowed. */
- if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
- {
- xShouldDelay = pdTRUE;
- }
- }
- else
- {
- /* The tick time has not overflowed. In this case we will
- delay if either the wake time has overflowed, and/or the
- tick time is less than the wake time. */
- if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
- {
- xShouldDelay = pdTRUE;
- }
- }
-
- /* Update the wake time ready for the next call. */
- *pxPreviousWakeTime = xTimeToWake;
-
- if( xShouldDelay )
- {
- traceTASK_DELAY_UNTIL();
-
- /* We must remove ourselves from the ready list before adding
- ourselves to the blocked list as the same list item is used for
- both lists. */
- vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-
- /* The list item will be inserted in wake time order. */
- listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
-
- if( xTimeToWake < xTickCount )
- {
- /* Wake time has overflowed. Place this item in the
- overflow list. */
- vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
- }
- else
- {
- /* The wake time has not overflowed, so we can use the
- current block list. */
- vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
- }
- }
- }
- xAlreadyYielded = xTaskResumeAll();
-
- /* Force a reschedule if xTaskResumeAll has not already done so, we may
- have put ourselves to sleep. */
- if( !xAlreadyYielded )
- {
- portYIELD_WITHIN_API();
- }
- }
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_vTaskDelay == 1 )
-
- void vTaskDelay( portTickType xTicksToDelay )
- {
- portTickType xTimeToWake;
- signed portBASE_TYPE xAlreadyYielded = pdFALSE;
-
- /* A delay time of zero just forces a reschedule. */
- if( xTicksToDelay > ( portTickType ) 0 )
- {
- vTaskSuspendAll();
- {
- traceTASK_DELAY();
-
- /* A task that is removed from the event list while the
- scheduler is suspended will not get placed in the ready
- list or removed from the blocked list until the scheduler
- is resumed.
-
- This task cannot be in an event list as it is the currently
- executing task. */
-
- /* Calculate the time to wake - this may overflow but this is
- not a problem. */
- xTimeToWake = xTickCount + xTicksToDelay;
-
- /* We must remove ourselves from the ready list before adding
- ourselves to the blocked list as the same list item is used for
- both lists. */
- vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-
- /* The list item will be inserted in wake time order. */
- listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
-
- if( xTimeToWake < xTickCount )
- {
- /* Wake time has overflowed. Place this item in the
- overflow list. */
- vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
- }
- else
- {
- /* The wake time has not overflowed, so we can use the
- current block list. */
- vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
- }
- }
- xAlreadyYielded = xTaskResumeAll();
- }
-
- /* Force a reschedule if xTaskResumeAll has not already done so, we may
- have put ourselves to sleep. */
- if( !xAlreadyYielded )
- {
- portYIELD_WITHIN_API();
- }
- }
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_uxTaskPriorityGet == 1 )
-
- unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
- {
- tskTCB *pxTCB;
- unsigned portBASE_TYPE uxReturn;
-
- portENTER_CRITICAL();
- {
- /* If null is passed in here then we are changing the
- priority of the calling function. */
- pxTCB = prvGetTCBFromHandle( pxTask );
- uxReturn = pxTCB->uxPriority;
- }
- portEXIT_CRITICAL();
-
- return uxReturn;
- }
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_vTaskPrioritySet == 1 )
-
- void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
- {
- tskTCB *pxTCB;
- unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
-
- /* Ensure the new priority is valid. */
- if( uxNewPriority >= configMAX_PRIORITIES )
- {
- uxNewPriority = configMAX_PRIORITIES - 1;
- }
-
- portENTER_CRITICAL();
- {
- if( pxTask == pxCurrentTCB )
- {
- pxTask = NULL;
- }
-
- /* If null is passed in here then we are changing the
- priority of the calling function. */
- pxTCB = prvGetTCBFromHandle( pxTask );
-
- traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
-
- #if ( configUSE_MUTEXES == 1 )
- {
- uxCurrentPriority = pxTCB->uxBasePriority;
- }
- #else
- {
- uxCurrentPriority = pxTCB->uxPriority;
- }
- #endif
-
- if( uxCurrentPriority != uxNewPriority )
- {
- /* The priority change may have readied a task of higher
- priority than the calling task. */
- if( uxNewPriority > uxCurrentPriority )
- {
- if( pxTask != NULL )
- {
- /* The priority of another task is being raised. If we
- were raising the priority of the currently running task
- there would be no need to switch as it must have already
- been the highest priority task. */
- xYieldRequired = pdTRUE;
- }
- }
- else if( pxTask == NULL )
- {
- /* Setting our own priority down means there may now be another
- task of higher priority that is ready to execute. */
- xYieldRequired = pdTRUE;
- }
-
-
-
- #if ( configUSE_MUTEXES == 1 )
- {
- /* Only change the priority being used if the task is not
- currently using an inherited priority. */
- if( pxTCB->uxBasePriority == pxTCB->uxPriority )
- {
- pxTCB->uxPriority = uxNewPriority;
- }
-
- /* The base priority gets set whatever. */
- pxTCB->uxBasePriority = uxNewPriority;
- }
- #else
- {
- pxTCB->uxPriority = uxNewPriority;
- }
- #endif
-
- listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
-
- /* If the task is in the blocked or suspended list we need do
- nothing more than change it's priority variable. However, if
- the task is in a ready list it needs to be removed and placed
- in the queue appropriate to its new priority. */
- if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
- {
- /* The task is currently in its ready list - remove before adding
- it to it's new ready list. As we are in a critical section we
- can do this even if the scheduler is suspended. */
- vListRemove( &( pxTCB->xGenericListItem ) );
- prvAddTaskToReadyQueue( pxTCB );
- }
-
- if( xYieldRequired == pdTRUE )
- {
- portYIELD_WITHIN_API();
- }
- }
- }
- portEXIT_CRITICAL();
- }
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_vTaskSuspend == 1 )
-
- void vTaskSuspend( xTaskHandle pxTaskToSuspend )
- {
- tskTCB *pxTCB;
-
- portENTER_CRITICAL();
- {
- /* Ensure a yield is performed if the current task is being
- suspended. */
- if( pxTaskToSuspend == pxCurrentTCB )
- {
- pxTaskToSuspend = NULL;
- }
-
- /* If null is passed in here then we are suspending ourselves. */
- pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
-
- traceTASK_SUSPEND( pxTCB );
-
- /* Remove task from the ready/delayed list and place in the suspended list. */
- vListRemove( &( pxTCB->xGenericListItem ) );
-
- /* Is the task waiting on an event also? */
- if( pxTCB->xEventListItem.pvContainer )
- {
- vListRemove( &( pxTCB->xEventListItem ) );
- }
-
- vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
- }
- portEXIT_CRITICAL();
-
- if( ( void * ) pxTaskToSuspend == NULL )
- {
- if( xSchedulerRunning != pdFALSE )
- {
- /* We have just suspended the current task. */
- portYIELD_WITHIN_API();
- }
- else
- {
- /* The scheduler is not running, but the task that was pointed
- to by pxCurrentTCB has just been suspended and pxCurrentTCB
- must be adjusted to point to a different task. */
- if( uxCurrentNumberOfTasks == 1 )
- {
- /* No other tasks are defined, so set pxCurrentTCB back to
- NULL so when the next task is created pxCurrentTCB will
- be set to point to it no matter what its relative priority
- is. */
- pxCurrentTCB = NULL;
- }
- else
- {
- vTaskSwitchContext();
- }
- }
- }
- }
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_vTaskSuspend == 1 )
-
- signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
- {
- portBASE_TYPE xReturn = pdFALSE;
- const tskTCB * const pxTCB = ( tskTCB * ) xTask;
-
- /* Is the task we are attempting to resume actually in the
- suspended list? */
- if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
- {
- /* Has the task already been resumed from within an ISR? */
- if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
- {
- /* Is it in the suspended list because it is in the
- Suspended state? It is possible to be in the suspended
- list because it is blocked on a task with no timeout
- specified. */
- if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
- {
- xReturn = pdTRUE;
- }
- }
- }
-
- return xReturn;
- }
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_vTaskSuspend == 1 )
-
- void vTaskResume( xTaskHandle pxTaskToResume )
- {
- tskTCB *pxTCB;
-
- /* Remove the task from whichever list it is currently in, and place
- it in the ready list. */
- pxTCB = ( tskTCB * ) pxTaskToResume;
-
- /* The parameter cannot be NULL as it is impossible to resume the
- currently executing task. */
- if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
- {
- portENTER_CRITICAL();
- {
- if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
- {
- traceTASK_RESUME( pxTCB );
-
- /* As we are in a critical section we can access the ready
- lists even if the scheduler is suspended. */
- vListRemove( &( pxTCB->xGenericListItem ) );
- prvAddTaskToReadyQueue( pxTCB );
-
- /* We may have just resumed a higher priority task. */
- if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
- {
- /* This yield may not cause the task just resumed to run, but
- will leave the lists in the correct state for the next yield. */
- portYIELD_WITHIN_API();
- }
- }
- }
- portEXIT_CRITICAL();
- }
- }
-
-#endif
-
-/*-----------------------------------------------------------*/
-
-#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
-
- portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
- {
- portBASE_TYPE xYieldRequired = pdFALSE;
- tskTCB *pxTCB;
-
- pxTCB = ( tskTCB * ) pxTaskToResume;
-
- if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
- {
- traceTASK_RESUME_FROM_ISR( pxTCB );
-
- if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
- {
- xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
- vListRemove( &( pxTCB->xGenericListItem ) );
- prvAddTaskToReadyQueue( pxTCB );
- }
- else
- {
- /* We cannot access the delayed or ready lists, so will hold this
- task pending until the scheduler is resumed, at which point a
- yield will be performed if necessary. */
- vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
- }
- }
-
- return xYieldRequired;
- }
-
-#endif
-
-
-
-
-/*-----------------------------------------------------------
- * PUBLIC SCHEDULER CONTROL documented in task.h
- *----------------------------------------------------------*/
-
-
-void vTaskStartScheduler( void )
-{
-portBASE_TYPE xReturn;
-
- /* Add the idle task at the lowest priority. */
- xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), ( xTaskHandle * ) NULL );
-
- if( xReturn == pdPASS )
- {
- /* Interrupts are turned off here, to ensure a tick does not occur
- before or during the call to xPortStartScheduler(). The stacks of
- the created tasks contain a status word with interrupts switched on
- so interrupts will automatically get re-enabled when the first task
- starts to run.
-
- STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
- DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
- portDISABLE_INTERRUPTS();
-
- xSchedulerRunning = pdTRUE;
- xTickCount = ( portTickType ) 0;
-
- /* If configGENERATE_RUN_TIME_STATS is defined then the following
- macro must be defined to configure the timer/counter used to generate
- the run time counter time base. */
- portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
-
- /* Setting up the timer tick is hardware specific and thus in the
- portable interface. */
- if( xPortStartScheduler() )
- {
- /* Should not reach here as if the scheduler is running the
- function will not return. */
- }
- else
- {
- /* Should only reach here if a task calls xTaskEndScheduler(). */
- }
- }
-}
-/*-----------------------------------------------------------*/
-
-void vTaskEndScheduler( void )
-{
- /* Stop the scheduler interrupts and call the portable scheduler end
- routine so the original ISRs can be restored if necessary. The port
- layer must ensure interrupts enable bit is left in the correct state. */
- portDISABLE_INTERRUPTS();
- xSchedulerRunning = pdFALSE;
- vPortEndScheduler();
-}
-/*----------------------------------------------------------*/
-
-void vTaskSuspendAll( void )
-{
- /* A critical section is not required as the variable is of type
- portBASE_TYPE. */
- ++uxSchedulerSuspended;
-}
-/*----------------------------------------------------------*/
-
-signed portBASE_TYPE xTaskResumeAll( void )
-{
-register tskTCB *pxTCB;
-signed portBASE_TYPE xAlreadyYielded = pdFALSE;
-
- /* It is possible that an ISR caused a task to be removed from an event
- list while the scheduler was suspended. If this was the case then the
- removed task will have been added to the xPendingReadyList. Once the
- scheduler has been resumed it is safe to move all the pending ready
- tasks from this list into their appropriate ready list. */
- portENTER_CRITICAL();
- {
- --uxSchedulerSuspended;
-
- if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
- {
- if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
- {
- portBASE_TYPE xYieldRequired = pdFALSE;
-
- /* Move any readied tasks from the pending list into the
- appropriate ready list. */
- while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL )
- {
- vListRemove( &( pxTCB->xEventListItem ) );
- vListRemove( &( pxTCB->xGenericListItem ) );
- prvAddTaskToReadyQueue( pxTCB );
-
- /* If we have moved a task that has a priority higher than
- the current task then we should yield. */
- if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
- {
- xYieldRequired = pdTRUE;
- }
- }
-
- /* If any ticks occurred while the scheduler was suspended then
- they should be processed now. This ensures the tick count does not
- slip, and that any delayed tasks are resumed at the correct time. */
- if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
- {
- while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
- {
- vTaskIncrementTick();
- --uxMissedTicks;
- }
-
- /* As we have processed some ticks it is appropriate to yield
- to ensure the highest priority task that is ready to run is
- the task actually running. */
- #if configUSE_PREEMPTION == 1
- {
- xYieldRequired = pdTRUE;
- }
- #endif
- }
-
- if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
- {
- xAlreadyYielded = pdTRUE;
- xMissedYield = pdFALSE;
- portYIELD_WITHIN_API();
- }
- }
- }
- }
- portEXIT_CRITICAL();
-
- return xAlreadyYielded;
-}
-
-
-
-
-
-
-/*-----------------------------------------------------------
- * PUBLIC TASK UTILITIES documented in task.h
- *----------------------------------------------------------*/
-
-
-
-portTickType xTaskGetTickCount( void )
-{
-portTickType xTicks;
-
- /* Critical section required if running on a 16 bit processor. */
- portENTER_CRITICAL();
- {
- xTicks = xTickCount;
- }
- portEXIT_CRITICAL();
-
- return xTicks;
-}
-/*-----------------------------------------------------------*/
-
-portTickType xTaskGetTickCountFromISR( void )
-{
- return xTickCount;
-}
-/*-----------------------------------------------------------*/
-
-unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
-{
- /* A critical section is not required because the variables are of type
- portBASE_TYPE. */
- return uxCurrentNumberOfTasks;
-}
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_TRACE_FACILITY == 1 )
-
- void vTaskList( signed char *pcWriteBuffer )
- {
- unsigned portBASE_TYPE uxQueue;
-
- /* This is a VERY costly function that should be used for debug only.
- It leaves interrupts disabled for a LONG time. */
-
- vTaskSuspendAll();
- {
- /* Run through all the lists that could potentially contain a TCB and
- report the task name, state and stack high water mark. */
-
- pcWriteBuffer[ 0 ] = ( signed char ) 0x00;
- strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
-
- uxQueue = uxTopUsedPriority + 1;
-
- do
- {
- uxQueue--;
-
- if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
- {
- prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
- }
- }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
-
- if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
- {
- prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
- }
-
- if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
- {
- prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
- }
-
- #if( INCLUDE_vTaskDelete == 1 )
- {
- if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
- {
- prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
- }
- }
- #endif
-
- #if ( INCLUDE_vTaskSuspend == 1 )
- {
- if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
- {
- prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
- }
- }
- #endif
- }
- xTaskResumeAll();
- }
-
-#endif
-/*----------------------------------------------------------*/
-
-#if ( configGENERATE_RUN_TIME_STATS == 1 )
-
- void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
- {
- unsigned portBASE_TYPE uxQueue;
- unsigned long ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
-
- /* This is a VERY costly function that should be used for debug only.
- It leaves interrupts disabled for a LONG time. */
-
- vTaskSuspendAll();
- {
- /* Run through all the lists that could potentially contain a TCB,
- generating a table of run timer percentages in the provided
- buffer. */
-
- pcWriteBuffer[ 0 ] = ( signed char ) 0x00;
- strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
-
- uxQueue = uxTopUsedPriority + 1;
-
- do
- {
- uxQueue--;
-
- if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
- {
- prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
- }
- }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
-
- if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
- {
- prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
- }
-
- if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
- {
- prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
- }
-
- #if ( INCLUDE_vTaskDelete == 1 )
- {
- if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
- {
- prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, ulTotalRunTime );
- }
- }
- #endif
-
- #if ( INCLUDE_vTaskSuspend == 1 )
- {
- if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
- {
- prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, ulTotalRunTime );
- }
- }
- #endif
- }
- xTaskResumeAll();
- }
-
-#endif
-/*----------------------------------------------------------*/
-
-#if ( configUSE_TRACE_FACILITY == 1 )
-
- void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize )
- {
- portENTER_CRITICAL();
- {
- pcTraceBuffer = ( signed char * )pcBuffer;
- pcTraceBufferStart = pcBuffer;
- pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
- xTracing = pdTRUE;
- }
- portEXIT_CRITICAL();
- }
-
-#endif
-/*----------------------------------------------------------*/
-
-#if ( configUSE_TRACE_FACILITY == 1 )
-
- unsigned long ulTaskEndTrace( void )
- {
- unsigned long ulBufferLength;
-
- portENTER_CRITICAL();
- xTracing = pdFALSE;
- portEXIT_CRITICAL();
-
- ulBufferLength = ( unsigned long ) ( pcTraceBuffer - pcTraceBufferStart );
-
- return ulBufferLength;
- }
-
-#endif
-
-
-
-/*-----------------------------------------------------------
- * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
- * documented in task.h
- *----------------------------------------------------------*/
-
-
-void vTaskIncrementTick( void )
-{
- /* Called by the portable layer each time a tick interrupt occurs.
- Increments the tick then checks to see if the new tick value will cause any
- tasks to be unblocked. */
- if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
- {
- ++xTickCount;
- if( xTickCount == ( portTickType ) 0 )
- {
- xList *pxTemp;
-
- /* Tick count has overflowed so we need to swap the delay lists.
- If there are any items in pxDelayedTaskList here then there is
- an error! */
- pxTemp = pxDelayedTaskList;
- pxDelayedTaskList = pxOverflowDelayedTaskList;
- pxOverflowDelayedTaskList = pxTemp;
- xNumOfOverflows++;
- }
-
- /* See if this tick has made a timeout expire. */
- prvCheckDelayedTasks();
- }
- else
- {
- ++uxMissedTicks;
-
- /* The tick hook gets called at regular intervals, even if the
- scheduler is locked. */
- #if ( configUSE_TICK_HOOK == 1 )
- {
- extern void vApplicationTickHook( void );
-
- vApplicationTickHook();
- }
- #endif
- }
-
- #if ( configUSE_TICK_HOOK == 1 )
- {
- extern void vApplicationTickHook( void );
-
- /* Guard against the tick hook being called when the missed tick
- count is being unwound (when the scheduler is being unlocked. */
- if( uxMissedTicks == 0 )
- {
- vApplicationTickHook();
- }
- }
- #endif
-
- traceTASK_INCREMENT_TICK( xTickCount );
-}
-/*-----------------------------------------------------------*/
-
-#if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
-
- void vTaskCleanUpResources( void )
- {
- unsigned short usQueue;
- volatile tskTCB *pxTCB;
-
- usQueue = ( unsigned short ) uxTopUsedPriority + ( unsigned short ) 1;
-
- /* Remove any TCB's from the ready queues. */
- do
- {
- usQueue--;
-
- while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
- {
- listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
- vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
-
- prvDeleteTCB( ( tskTCB * ) pxTCB );
- }
- }while( usQueue > ( unsigned short ) tskIDLE_PRIORITY );
-
- /* Remove any TCB's from the delayed queue. */
- while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
- {
- listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
- vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
-
- prvDeleteTCB( ( tskTCB * ) pxTCB );
- }
-
- /* Remove any TCB's from the overflow delayed queue. */
- while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
- {
- listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
- vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
-
- prvDeleteTCB( ( tskTCB * ) pxTCB );
- }
-
- while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
- {
- listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
- vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
-
- prvDeleteTCB( ( tskTCB * ) pxTCB );
- }
- }
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_APPLICATION_TASK_TAG == 1 )
-
- void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue )
- {
- tskTCB *xTCB;
-
- /* If xTask is NULL then we are setting our own task hook. */
- if( xTask == NULL )
- {
- xTCB = ( tskTCB * ) pxCurrentTCB;
- }
- else
- {
- xTCB = ( tskTCB * ) xTask;
- }
-
- /* Save the hook function in the TCB. A critical section is required as
- the value can be accessed from an interrupt. */
- portENTER_CRITICAL();
- xTCB->pxTaskTag = pxTagValue;
- portEXIT_CRITICAL();
- }
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_APPLICATION_TASK_TAG == 1 )
-
- pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
- {
- tskTCB *xTCB;
- pdTASK_HOOK_CODE xReturn;
-
- /* If xTask is NULL then we are setting our own task hook. */
- if( xTask == NULL )
- {
- xTCB = ( tskTCB * ) pxCurrentTCB;
- }
- else
- {
- xTCB = ( tskTCB * ) xTask;
- }
-
- /* Save the hook function in the TCB. A critical section is required as
- the value can be accessed from an interrupt. */
- portENTER_CRITICAL();
- xReturn = xTCB->pxTaskTag;
- portEXIT_CRITICAL();
-
- return xReturn;
- }
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_APPLICATION_TASK_TAG == 1 )
-
- portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
- {
- tskTCB *xTCB;
- portBASE_TYPE xReturn;
-
- /* If xTask is NULL then we are calling our own task hook. */
- if( xTask == NULL )
- {
- xTCB = ( tskTCB * ) pxCurrentTCB;
- }
- else
- {
- xTCB = ( tskTCB * ) xTask;
- }
-
- if( xTCB->pxTaskTag != NULL )
- {
- xReturn = xTCB->pxTaskTag( pvParameter );
- }
- else
- {
- xReturn = pdFAIL;
- }
-
- return xReturn;
- }
-
-#endif
-/*-----------------------------------------------------------*/
-
-void vTaskSwitchContext( void )
-{
- if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
- {
- /* The scheduler is currently suspended - do not allow a context
- switch. */
- xMissedYield = pdTRUE;
- return;
- }
-
- traceTASK_SWITCHED_OUT();
-
- #if ( configGENERATE_RUN_TIME_STATS == 1 )
- {
- unsigned long ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
-
- /* Add the amount of time the task has been running to the accumulated
- time so far. The time the task started running was stored in
- ulTaskSwitchedInTime. Note that there is no overflow protection here
- so count values are only valid until the timer overflows. Generally
- this will be about 1 hour assuming a 1uS timer increment. */
- pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
- ulTaskSwitchedInTime = ulTempCounter;
- }
- #endif
-
- taskFIRST_CHECK_FOR_STACK_OVERFLOW();
- taskSECOND_CHECK_FOR_STACK_OVERFLOW();
-
- /* Find the highest priority queue that contains ready tasks. */
- while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
- {
- --uxTopReadyPriority;
- }
-
- /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
- same priority get an equal share of the processor time. */
- listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
-
- traceTASK_SWITCHED_IN();
- vWriteTraceToBuffer();
-}
-/*-----------------------------------------------------------*/
-
-void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
-{
-portTickType xTimeToWake;
-
- /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
- SCHEDULER SUSPENDED. */
-
- /* Place the event list item of the TCB in the appropriate event list.
- This is placed in the list in priority order so the highest priority task
- is the first to be woken by the event. */
- vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
-
- /* We must remove ourselves from the ready list before adding ourselves
- to the blocked list as the same list item is used for both lists. We have
- exclusive access to the ready lists as the scheduler is locked. */
- vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-
-
- #if ( INCLUDE_vTaskSuspend == 1 )
- {
- if( xTicksToWait == portMAX_DELAY )
- {
- /* Add ourselves to the suspended task list instead of a delayed task
- list to ensure we are not woken by a timing event. We will block
- indefinitely. */
- vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
- }
- else
- {
- /* Calculate the time at which the task should be woken if the event does
- not occur. This may overflow but this doesn't matter. */
- xTimeToWake = xTickCount + xTicksToWait;
-
- listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
-
- if( xTimeToWake < xTickCount )
- {
- /* Wake time has overflowed. Place this item in the overflow list. */
- vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
- }
- else
- {
- /* The wake time has not overflowed, so we can use the current block list. */
- vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
- }
- }
- }
- #else
- {
- /* Calculate the time at which the task should be woken if the event does
- not occur. This may overflow but this doesn't matter. */
- xTimeToWake = xTickCount + xTicksToWait;
-
- listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
-
- if( xTimeToWake < xTickCount )
- {
- /* Wake time has overflowed. Place this item in the overflow list. */
- vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
- }
- else
- {
- /* The wake time has not overflowed, so we can use the current block list. */
- vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
- }
- }
- #endif
-}
-/*-----------------------------------------------------------*/
-
-signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
-{
-tskTCB *pxUnblockedTCB;
-portBASE_TYPE xReturn;
-
- /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
- SCHEDULER SUSPENDED. It can also be called from within an ISR. */
-
- /* The event list is sorted in priority order, so we can remove the
- first in the list, remove the TCB from the delayed list, and add
- it to the ready list.
-
- If an event is for a queue that is locked then this function will never
- get called - the lock count on the queue will get modified instead. This
- means we can always expect exclusive access to the event list here. */
- pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
- vListRemove( &( pxUnblockedTCB->xEventListItem ) );
-
- if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
- {
- vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
- prvAddTaskToReadyQueue( pxUnblockedTCB );
- }
- else
- {
- /* We cannot access the delayed or ready lists, so will hold this
- task pending until the scheduler is resumed. */
- vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
- }
-
- if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
- {
- /* Return true if the task removed from the event list has
- a higher priority than the calling task. This allows
- the calling task to know if it should force a context
- switch now. */
- xReturn = pdTRUE;
- }
- else
- {
- xReturn = pdFALSE;
- }
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
-{
- pxTimeOut->xOverflowCount = xNumOfOverflows;
- pxTimeOut->xTimeOnEntering = xTickCount;
-}
-/*-----------------------------------------------------------*/
-
-portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
-{
-portBASE_TYPE xReturn;
-
- portENTER_CRITICAL();
- {
- #if ( INCLUDE_vTaskSuspend == 1 )
- /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
- the maximum block time then the task should block indefinitely, and
- therefore never time out. */
- if( *pxTicksToWait == portMAX_DELAY )
- {
- xReturn = pdFALSE;
- }
- else /* We are not blocking indefinitely, perform the checks below. */
- #endif
-
- if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
- {
- /* The tick count is greater than the time at which vTaskSetTimeout()
- was called, but has also overflowed since vTaskSetTimeOut() was called.
- It must have wrapped all the way around and gone past us again. This
- passed since vTaskSetTimeout() was called. */
- xReturn = pdTRUE;
- }
- else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
- {
- /* Not a genuine timeout. Adjust parameters for time remaining. */
- *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
- vTaskSetTimeOutState( pxTimeOut );
- xReturn = pdFALSE;
- }
- else
- {
- xReturn = pdTRUE;
- }
- }
- portEXIT_CRITICAL();
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-void vTaskMissedYield( void )
-{
- xMissedYield = pdTRUE;
-}
-
-/*
- * -----------------------------------------------------------
- * The Idle task.
- * ----------------------------------------------------------
- *
- * The portTASK_FUNCTION() macro is used to allow port/compiler specific
- * language extensions. The equivalent prototype for this function is:
- *
- * void prvIdleTask( void *pvParameters );
- *
- */
-static portTASK_FUNCTION( prvIdleTask, pvParameters )
-{
- /* Stop warnings. */
- ( void ) pvParameters;
-
- for( ;; )
- {
- /* See if any tasks have been deleted. */
- prvCheckTasksWaitingTermination();
-
- #if ( configUSE_PREEMPTION == 0 )
- {
- /* If we are not using preemption we keep forcing a task switch to
- see if any other task has become available. If we are using
- preemption we don't need to do this as any task becoming available
- will automatically get the processor anyway. */
- taskYIELD();
- }
- #endif
-
- #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
- {
- /* When using preemption tasks of equal priority will be
- timesliced. If a task that is sharing the idle priority is ready
- to run then the idle task should yield before the end of the
- timeslice.
-
- A critical region is not required here as we are just reading from
- the list, and an occasional incorrect value will not matter. If
- the ready list at the idle priority contains more than one task
- then a task other than the idle task is ready to execute. */
- if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
- {
- taskYIELD();
- }
- }
- #endif
-
- #if ( configUSE_IDLE_HOOK == 1 )
- {
- extern void vApplicationIdleHook( void );
-
- /* Call the user defined function from within the idle task. This
- allows the application designer to add background functionality
- without the overhead of a separate task.
- NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
- CALL A FUNCTION THAT MIGHT BLOCK. */
- vApplicationIdleHook();
- }
- #endif
- }
-} /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
-
-
-
-
-
-
-
-/*-----------------------------------------------------------
- * File private functions documented at the top of the file.
- *----------------------------------------------------------*/
-
-
-
-static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
-{
- /* Store the function name in the TCB. */
- #if configMAX_TASK_NAME_LEN > 1
- {
- /* Don't bring strncpy into the build unnecessarily. */
- strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
- }
- #endif
- pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = '\0';
-
- /* This is used as an array index so must ensure it's not too large. First
- remove the privilege bit if one is present. */
- if( uxPriority >= configMAX_PRIORITIES )
- {
- uxPriority = configMAX_PRIORITIES - 1;
- }
-
- pxTCB->uxPriority = uxPriority;
- #if ( configUSE_MUTEXES == 1 )
- {
- pxTCB->uxBasePriority = uxPriority;
- }
- #endif
-
- vListInitialiseItem( &( pxTCB->xGenericListItem ) );
- vListInitialiseItem( &( pxTCB->xEventListItem ) );
-
- /* Set the pxTCB as a link back from the xListItem. This is so we can get
- back to the containing TCB from a generic item in a list. */
- listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
-
- /* Event lists are always in priority order. */
- listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
- listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
-
- #if ( portCRITICAL_NESTING_IN_TCB == 1 )
- {
- pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
- }
- #endif
-
- #if ( configUSE_APPLICATION_TASK_TAG == 1 )
- {
- pxTCB->pxTaskTag = NULL;
- }
- #endif
-
- #if ( configGENERATE_RUN_TIME_STATS == 1 )
- {
- pxTCB->ulRunTimeCounter = 0UL;
- }
- #endif
-
- #if ( portUSING_MPU_WRAPPERS == 1 )
- {
- vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
- }
- #else
- {
- ( void ) xRegions;
- ( void ) usStackDepth;
- }
- #endif
-}
-/*-----------------------------------------------------------*/
-
-#if ( portUSING_MPU_WRAPPERS == 1 )
-
- void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
- {
- tskTCB *pxTCB;
-
- if( xTaskToModify == pxCurrentTCB )
- {
- xTaskToModify = NULL;
- }
-
- /* If null is passed in here then we are deleting ourselves. */
- pxTCB = prvGetTCBFromHandle( xTaskToModify );
-
- vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
- }
- /*-----------------------------------------------------------*/
-#endif
-
-static void prvInitialiseTaskLists( void )
-{
-unsigned portBASE_TYPE uxPriority;
-
- for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )
- {
- vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
- }
-
- vListInitialise( ( xList * ) &xDelayedTaskList1 );
- vListInitialise( ( xList * ) &xDelayedTaskList2 );
- vListInitialise( ( xList * ) &xPendingReadyList );
-
- #if ( INCLUDE_vTaskDelete == 1 )
- {
- vListInitialise( ( xList * ) &xTasksWaitingTermination );
- }
- #endif
-
- #if ( INCLUDE_vTaskSuspend == 1 )
- {
- vListInitialise( ( xList * ) &xSuspendedTaskList );
- }
- #endif
-
- /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
- using list2. */
- pxDelayedTaskList = &xDelayedTaskList1;
- pxOverflowDelayedTaskList = &xDelayedTaskList2;
-}
-/*-----------------------------------------------------------*/
-
-static void prvCheckTasksWaitingTermination( void )
-{
- #if ( INCLUDE_vTaskDelete == 1 )
- {
- portBASE_TYPE xListIsEmpty;
-
- /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
- too often in the idle task. */
- if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
- {
- vTaskSuspendAll();
- xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
- xTaskResumeAll();
-
- if( !xListIsEmpty )
- {
- tskTCB *pxTCB;
-
- portENTER_CRITICAL();
- {
- pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
- vListRemove( &( pxTCB->xGenericListItem ) );
- --uxCurrentNumberOfTasks;
- --uxTasksDeleted;
- }
- portEXIT_CRITICAL();
-
- prvDeleteTCB( pxTCB );
- }
- }
- }
- #endif
-}
-/*-----------------------------------------------------------*/
-
-static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
-{
-tskTCB *pxNewTCB;
-
- /* Allocate space for the TCB. Where the memory comes from depends on
- the implementation of the port malloc function. */
- pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
-
- if( pxNewTCB != NULL )
- {
- /* Allocate space for the stack used by the task being created.
- The base of the stack memory stored in the TCB so the task can
- be deleted later if required. */
- pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
-
- if( pxNewTCB->pxStack == NULL )
- {
- /* Could not allocate the stack. Delete the allocated TCB. */
- vPortFree( pxNewTCB );
- pxNewTCB = NULL;
- }
- else
- {
- /* Just to help debugging. */
- memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
- }
- }
-
- return pxNewTCB;
-}
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_TRACE_FACILITY == 1 )
-
- static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
- {
- volatile tskTCB *pxNextTCB, *pxFirstTCB;
- unsigned short usStackRemaining;
-
- /* Write the details of all the TCB's in pxList into the buffer. */
- listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
- do
- {
- listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
- #if ( portSTACK_GROWTH > 0 )
- {
- usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
- }
- #else
- {
- usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
- }
- #endif
-
- 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 );
- strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
-
- } while( pxNextTCB != pxFirstTCB );
- }
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( configGENERATE_RUN_TIME_STATS == 1 )
-
- static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
- {
- volatile tskTCB *pxNextTCB, *pxFirstTCB;
- unsigned long ulStatsAsPercentage;
-
- /* Write the run time stats of all the TCB's in pxList into the buffer. */
- listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
- do
- {
- /* Get next TCB in from the list. */
- listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
-
- /* Divide by zero check. */
- if( ulTotalRunTime > 0UL )
- {
- /* Has the task run at all? */
- if( pxNextTCB->ulRunTimeCounter == 0 )
- {
- /* The task has used no CPU time at all. */
- sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
- }
- else
- {
- /* What percentage of the total run time as the task used?
- This will always be rounded down to the nearest integer. */
- ulStatsAsPercentage = ( 100UL * pxNextTCB->ulRunTimeCounter ) / ulTotalRunTime;
-
- if( ulStatsAsPercentage > 0UL )
- {
- sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
- }
- else
- {
- /* If the percentage is zero here then the task has
- consumed less than 1% of the total run time. */
- sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
- }
- }
-
- strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
- }
-
- } while( pxNextTCB != pxFirstTCB );
- }
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
-
- static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
- {
- register unsigned short usCount = 0;
-
- while( *pucStackByte == tskSTACK_FILL_BYTE )
- {
- pucStackByte -= portSTACK_GROWTH;
- usCount++;
- }
-
- usCount /= sizeof( portSTACK_TYPE );
-
- return usCount;
- }
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
-
- unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
- {
- tskTCB *pxTCB;
- unsigned char *pcEndOfStack;
- unsigned portBASE_TYPE uxReturn;
-
- pxTCB = prvGetTCBFromHandle( xTask );
-
- #if portSTACK_GROWTH < 0
- {
- pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
- }
- #else
- {
- pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
- }
- #endif
-
- uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
-
- return uxReturn;
- }
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
-
- static void prvDeleteTCB( tskTCB *pxTCB )
- {
- /* Free up the memory allocated by the scheduler for the task. It is up to
- the task to free any memory allocated at the application level. */
- vPortFreeAligned( pxTCB->pxStack );
- vPortFree( pxTCB );
- }
-
-#endif
-
-
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
-
- xTaskHandle xTaskGetCurrentTaskHandle( void )
- {
- xTaskHandle xReturn;
-
- /* A critical section is not required as this is not called from
- an interrupt and the current TCB will always be the same for any
- individual execution thread. */
- xReturn = pxCurrentTCB;
-
- return xReturn;
- }
-
-#endif
-
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_xTaskGetSchedulerState == 1 )
-
- portBASE_TYPE xTaskGetSchedulerState( void )
- {
- portBASE_TYPE xReturn;
-
- if( xSchedulerRunning == pdFALSE )
- {
- xReturn = taskSCHEDULER_NOT_STARTED;
- }
- else
- {
- if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
- {
- xReturn = taskSCHEDULER_RUNNING;
- }
- else
- {
- xReturn = taskSCHEDULER_SUSPENDED;
- }
- }
-
- return xReturn;
- }
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_MUTEXES == 1 )
-
- void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
- {
- tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
-
- if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
- {
- /* Adjust the mutex holder state to account for its new priority. */
- listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
-
- /* If the task being modified is in the ready state it will need to
- be moved in to a new list. */
- if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
- {
- vListRemove( &( pxTCB->xGenericListItem ) );
-
- /* Inherit the priority before being moved into the new list. */
- pxTCB->uxPriority = pxCurrentTCB->uxPriority;
- prvAddTaskToReadyQueue( pxTCB );
- }
- else
- {
- /* Just inherit the priority. */
- pxTCB->uxPriority = pxCurrentTCB->uxPriority;
- }
- }
- }
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_MUTEXES == 1 )
-
- void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
- {
- tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
-
- if( pxMutexHolder != NULL )
- {
- if( pxTCB->uxPriority != pxTCB->uxBasePriority )
- {
- /* We must be the running task to be able to give the mutex back.
- Remove ourselves from the ready list we currently appear in. */
- vListRemove( &( pxTCB->xGenericListItem ) );
-
- /* Disinherit the priority before adding ourselves into the new
- ready list. */
- pxTCB->uxPriority = pxTCB->uxBasePriority;
- listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
- prvAddTaskToReadyQueue( pxTCB );
- }
- }
- }
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( portCRITICAL_NESTING_IN_TCB == 1 )
-
- void vTaskEnterCritical( void )
- {
- portDISABLE_INTERRUPTS();
-
- if( xSchedulerRunning != pdFALSE )
- {
- ( pxCurrentTCB->uxCriticalNesting )++;
- }
- }
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( portCRITICAL_NESTING_IN_TCB == 1 )
-
-void vTaskExitCritical( void )
-{
- if( xSchedulerRunning != pdFALSE )
- {
- if( pxCurrentTCB->uxCriticalNesting > 0 )
- {
- ( pxCurrentTCB->uxCriticalNesting )--;
-
- if( pxCurrentTCB->uxCriticalNesting == 0 )
- {
- portENABLE_INTERRUPTS();
- }
- }
- }
-}
-
-#endif
-/*-----------------------------------------------------------*/
-
-
-
-
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