tasks.c

Revision 21, 68.0 kB (checked in by phil, 15 years ago)
xTickCount not static anymore, used by Meters

Line
1	/*
2	FreeRTOS V5.4.1 - Copyright (C) 2009 Real Time Engineers Ltd.
3
4	This file is part of the FreeRTOS distribution.
5
6	FreeRTOS is free software; you can redistribute it and/or modify it under
7	the terms of the GNU General Public License (version 2) as published by the
8	Free Software Foundation and modified by the FreeRTOS exception.
9	NOTE The exception to the GPL is included to allow you to distribute a
10	combined work that includes FreeRTOS without being obliged to provide the
11	source code for proprietary components outside of the FreeRTOS kernel.
12	Alternative commercial license and support terms are also available upon
13	request. See the licensing section of http://www.FreeRTOS.org for full
14	license details.
15
16	FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
17	ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
18	FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
19	more details.
20
21	You should have received a copy of the GNU General Public License along
22	with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
23	Temple Place, Suite 330, Boston, MA 02111-1307 USA.
24
25
26	***************************************************************************
27	* *
28	* Looking for a quick start? Then check out the FreeRTOS eBook! *
29	* See http://www.FreeRTOS.org/Documentation for details *
30	* *
31	***************************************************************************
32
33	1 tab == 4 spaces!
34
35	Please ensure to read the configuration and relevant port sections of the
36	online documentation.
37
38	http://www.FreeRTOS.org - Documentation, latest information, license and
39	contact details.
40
41	http://www.SafeRTOS.com - A version that is certified for use in safety
42	critical systems.
43
44	http://www.OpenRTOS.com - Commercial support, development, porting,
45	licensing and training services.
46	*/
47
48
49	#include <stdio.h>
50	#include <stdlib.h>
51	#include <string.h>
52
53	#include "FreeRTOS.h"
54	#include "task.h"
55	#include "StackMacros.h"
56
57	/*
58	* Macro to define the amount of stack available to the idle task.
59	*/
60	#define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
61
62	/*
63	* Task control block. A task control block (TCB) is allocated to each task,
64	* and stores the context of the task.
65	*/
66	typedef struct tskTaskControlBlock
67	{
68	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. */
69	xListItem xGenericListItem; /< List item used to place the TCB in ready and blocked queues. /
70	xListItem xEventListItem; /< List item used to place the TCB in event lists. /
71	unsigned portBASE_TYPE uxPriority; /< The priority of the task where 0 is the lowest priority. /
72	portSTACK_TYPE pxStack; /< Points to the start of the stack. */
73	signed portCHAR pcTaskName[ configMAX_TASK_NAME_LEN ];/< Descriptive name given to the task when created. Facilitates debugging only. /
74
75	#if ( portSTACK_GROWTH > 0 )
76	portSTACK_TYPE pxEndOfStack; /< Used for stack overflow checking on architectures where the stack grows up from low memory. */
77	#endif
78
79	#if ( portCRITICAL_NESTING_IN_TCB == 1 )
80	unsigned portBASE_TYPE uxCriticalNesting;
81	#endif
82
83	#if ( configUSE_TRACE_FACILITY == 1 )
84	unsigned portBASE_TYPE uxTCBNumber; /< This is used for tracing the scheduler and making debugging easier only. /
85	#endif
86
87	#if ( configUSE_MUTEXES == 1 )
88	unsigned portBASE_TYPE uxBasePriority; /< The priority last assigned to the task - used by the priority inheritance mechanism. /
89	#endif
90
91	#if ( configUSE_APPLICATION_TASK_TAG == 1 )
92	pdTASK_HOOK_CODE pxTaskTag;
93	#endif
94
95	#if ( configGENERATE_RUN_TIME_STATS == 1 )
96	unsigned portLONG ulRunTimeCounter; /< Used for calculating how much CPU time each task is utilising. /
97	#endif
98
99	} tskTCB;
100
101	/*
102	* Some kernel aware debuggers require data to be viewed to be global, rather
103	* than file scope.
104	*/
105	#ifdef portREMOVE_STATIC_QUALIFIER
106	#define static
107	#endif
108
109	/lint -e956 /
110
111	tskTCB * volatile pxCurrentTCB = NULL;
112
113	/* Lists for ready and blocked tasks. --------------------*/
114
115	static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /< Prioritised ready tasks. /
116	static xList xDelayedTaskList1; /< Delayed tasks. /
117	static xList xDelayedTaskList2; /< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. /
118	static xList * volatile pxDelayedTaskList; /< Points to the delayed task list currently being used. /
119	static xList * volatile pxOverflowDelayedTaskList; /< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. /
120	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. /
121
122	#if ( INCLUDE_vTaskDelete == 1 )
123
124	static volatile xList xTasksWaitingTermination; /< Tasks that have been deleted - but the their memory not yet freed. /
125	static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
126
127	#endif
128
129	#if ( INCLUDE_vTaskSuspend == 1 )
130
131	static xList xSuspendedTaskList; /< Tasks that are currently suspended. /
132
133	#endif
134
135	/* File private variables. --------------------------------*/
136	static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
137	volatile portTickType xTickCount = ( portTickType ) 0; /* no longer volatile for electricity meter app */
138	static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
139	static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
140	static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
141	static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
142	static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
143	static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
144	static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
145	static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0;
146
147	#if ( configGENERATE_RUN_TIME_STATS == 1 )
148
149	static portCHAR pcStatsString[ 50 ];
150	static unsigned portLONG ulTaskSwitchedInTime = 0UL; /< Holds the value of a timer/counter the last time a task was switched in. /
151	static void prvGenerateRunTimeStatsForTasksInList( const signed portCHAR pcWriteBuffer, xList pxList, unsigned portLONG ulTotalRunTime );
152
153	#endif
154
155	/* Debugging and trace facilities private variables and macros. ------------*/
156
157	/*
158	* The value used to fill the stack of a task when the task is created. This
159	* is used purely for checking the high water mark for tasks.
160	*/
161	#define tskSTACK_FILL_BYTE ( 0xa5 )
162
163	/*
164	* Macros used by vListTask to indicate which state a task is in.
165	*/
166	#define tskBLOCKED_CHAR ( ( signed portCHAR ) 'B' )
167	#define tskREADY_CHAR ( ( signed portCHAR ) 'R' )
168	#define tskDELETED_CHAR ( ( signed portCHAR ) 'D' )
169	#define tskSUSPENDED_CHAR ( ( signed portCHAR ) 'S' )
170
171	/*
172	* Macros and private variables used by the trace facility.
173	*/
174	#if ( configUSE_TRACE_FACILITY == 1 )
175
176	#define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned portLONG ) ( sizeof( unsigned portLONG ) + sizeof( unsigned portLONG ) ) )
177	static volatile signed portCHAR * volatile pcTraceBuffer;
178	static signed portCHAR *pcTraceBufferStart;
179	static signed portCHAR *pcTraceBufferEnd;
180	static signed portBASE_TYPE xTracing = pdFALSE;
181	static unsigned portBASE_TYPE uxPreviousTask = 255;
182	static portCHAR pcStatusString[ 50 ];
183
184	#endif
185
186	/-----------------------------------------------------------/
187
188	/*
189	* Macro that writes a trace of scheduler activity to a buffer. This trace
190	* shows which task is running when and is very useful as a debugging tool.
191	* As this macro is called each context switch it is a good idea to undefine
192	* it if not using the facility.
193	*/
194	#if ( configUSE_TRACE_FACILITY == 1 )
195
196	#define vWriteTraceToBuffer() \
197	{ \
198	if( xTracing ) \
199	{ \
200	if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
201	{ \
202	if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
203	{ \
204	uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
205	( unsigned portLONG ) pcTraceBuffer = ( unsigned portLONG ) xTickCount; \
206	pcTraceBuffer += sizeof( unsigned portLONG ); \
207	( unsigned portLONG ) pcTraceBuffer = ( unsigned portLONG ) uxPreviousTask; \
208	pcTraceBuffer += sizeof( unsigned portLONG ); \
209	} \
210	else \
211	{ \
212	xTracing = pdFALSE; \
213	} \
214	} \
215	} \
216	}
217
218	#else
219
220	#define vWriteTraceToBuffer()
221
222	#endif
223	/-----------------------------------------------------------/
224
225	/*
226	* Place the task represented by pxTCB into the appropriate ready queue for
227	* the task. It is inserted at the end of the list. One quirk of this is
228	* that if the task being inserted is at the same priority as the currently
229	* executing task, then it will only be rescheduled after the currently
230	* executing task has been rescheduled.
231	*/
232	#define prvAddTaskToReadyQueue( pxTCB ) \
233	{ \
234	if( pxTCB->uxPriority > uxTopReadyPriority ) \
235	{ \
236	uxTopReadyPriority = pxTCB->uxPriority; \
237	} \
238	vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \
239	}
240	/-----------------------------------------------------------/
241
242	/*
243	* Macro that looks at the list of tasks that are currently delayed to see if
244	* any require waking.
245	*
246	* Tasks are stored in the queue in the order of their wake time - meaning
247	* once one tasks has been found whose timer has not expired we need not look
248	* any further down the list.
249	*/
250	#define prvCheckDelayedTasks() \
251	{ \
252	register tskTCB *pxTCB; \
253	\
254	while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \
255	{ \
256	if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \
257	{ \
258	break; \
259	} \
260	vListRemove( &( pxTCB->xGenericListItem ) ); \
261	/* Is the task waiting on an event also? */ \
262	if( pxTCB->xEventListItem.pvContainer ) \
263	{ \
264	vListRemove( &( pxTCB->xEventListItem ) ); \
265	} \
266	prvAddTaskToReadyQueue( pxTCB ); \
267	} \
268	}
269	/-----------------------------------------------------------/
270
271	/*
272	* Several functions take an xTaskHandle parameter that can optionally be NULL,
273	* where NULL is used to indicate that the handle of the currently executing
274	* task should be used in place of the parameter. This macro simply checks to
275	* see if the parameter is NULL and returns a pointer to the appropriate TCB.
276	*/
277	#define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )
278
279
280	/* File private functions. --------------------------------*/
281
282	/*
283	* Utility to ready a TCB for a given task. Mainly just copies the parameters
284	* into the TCB structure.
285	*/
286	static void prvInitialiseTCBVariables( tskTCB pxTCB, const signed portCHAR const pcName, unsigned portBASE_TYPE uxPriority );
287
288	/*
289	* Utility to ready all the lists used by the scheduler. This is called
290	* automatically upon the creation of the first task.
291	*/
292	static void prvInitialiseTaskLists( void );
293
294	/*
295	* The idle task, which as all tasks is implemented as a never ending loop.
296	* The idle task is automatically created and added to the ready lists upon
297	* creation of the first user task.
298	*
299	* The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
300	* language extensions. The equivalent prototype for this function is:
301	*
302	* void prvIdleTask( void *pvParameters );
303	*
304	*/
305	static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
306
307	/*
308	* Utility to free all memory allocated by the scheduler to hold a TCB,
309	* including the stack pointed to by the TCB.
310	*
311	* This does not free memory allocated by the task itself (i.e. memory
312	* allocated by calls to pvPortMalloc from within the tasks application code).
313	*/
314	#if ( ( INCLUDE_vTaskDelete == 1 ) \|\| ( INCLUDE_vTaskCleanUpResources == 1 ) )
315
316	static void prvDeleteTCB( tskTCB *pxTCB );
317
318	#endif
319
320	/*
321	* Used only by the idle task. This checks to see if anything has been placed
322	* in the list of tasks waiting to be deleted. If so the task is cleaned up
323	* and its TCB deleted.
324	*/
325	static void prvCheckTasksWaitingTermination( void );
326
327	/*
328	* Allocates memory from the heap for a TCB and associated stack. Checks the
329	* allocation was successful.
330	*/
331	static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );
332
333	/*
334	* Called from vTaskList. vListTasks details all the tasks currently under
335	* control of the scheduler. The tasks may be in one of a number of lists.
336	* prvListTaskWithinSingleList accepts a list and details the tasks from
337	* within just that list.
338	*
339	* THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
340	* NORMAL APPLICATION CODE.
341	*/
342	#if ( configUSE_TRACE_FACILITY == 1 )
343
344	static void prvListTaskWithinSingleList( const signed portCHAR pcWriteBuffer, xList pxList, signed portCHAR cStatus );
345
346	#endif
347
348	/*
349	* When a task is created, the stack of the task is filled with a known value.
350	* This function determines the 'high water mark' of the task stack by
351	* determining how much of the stack remains at the original preset value.
352	*/
353	#if ( ( configUSE_TRACE_FACILITY == 1 ) \|\| ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
354
355	unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte );
356
357	#endif
358
359
360	/lint +e956 /
361
362
363
364	/*-----------------------------------------------------------
365	* TASK CREATION API documented in task.h
366	----------------------------------------------------------/
367
368	signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle pxCreatedTask )
369	{
370	signed portBASE_TYPE xReturn;
371	tskTCB * pxNewTCB;
372
373	/* Allocate the memory required by the TCB and stack for the new task.
374	checking that the allocation was successful. */
375	pxNewTCB = prvAllocateTCBAndStack( usStackDepth );
376
377	if( pxNewTCB != NULL )
378	{
379	portSTACK_TYPE *pxTopOfStack;
380
381	/* Setup the newly allocated TCB with the initial state of the task. */
382	prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority );
383
384	/* Calculate the top of stack address. This depends on whether the
385	stack grows from high memory to low (as per the 80x86) or visa versa.
386	portSTACK_GROWTH is used to make the result positive or negative as
387	required by the port. */
388	#if portSTACK_GROWTH < 0
389	{
390	pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 ) - ( ( usStackDepth - 1 ) % portBYTE_ALIGNMENT );
391	}
392	#else
393	{
394	pxTopOfStack = pxNewTCB->pxStack;
395
396	/* If we want to use stack checking on architectures that use
397	a positive stack growth direction then we also need to store the
398	other extreme of the stack space. */
399	pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
400	}
401	#endif
402
403	/* Initialize the TCB stack to look as if the task was already running,
404	but had been interrupted by the scheduler. The return address is set
405	to the start of the task function. Once the stack has been initialised
406	the top of stack variable is updated. */
407	pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pvTaskCode, pvParameters );
408
409	/* We are going to manipulate the task queues to add this task to a
410	ready list, so must make sure no interrupts occur. */
411	portENTER_CRITICAL();
412	{
413	uxCurrentNumberOfTasks++;
414	if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
415	{
416	/* As this is the first task it must also be the current task. */
417	pxCurrentTCB = pxNewTCB;
418
419	/* This is the first task to be created so do the preliminary
420	initialisation required. We will not recover if this call
421	fails, but we will report the failure. */
422	prvInitialiseTaskLists();
423	}
424	else
425	{
426	/* If the scheduler is not already running, make this task the
427	current task if it is the highest priority task to be created
428	so far. */
429	if( xSchedulerRunning == pdFALSE )
430	{
431	if( pxCurrentTCB->uxPriority <= uxPriority )
432	{
433	pxCurrentTCB = pxNewTCB;
434	}
435	}
436	}
437
438	/* Remember the top priority to make context switching faster. Use
439	the priority in pxNewTCB as this has been capped to a valid value. */
440	if( pxNewTCB->uxPriority > uxTopUsedPriority )
441	{
442	uxTopUsedPriority = pxNewTCB->uxPriority;
443	}
444
445	#if ( configUSE_TRACE_FACILITY == 1 )
446	{
447	/* Add a counter into the TCB for tracing only. */
448	pxNewTCB->uxTCBNumber = uxTaskNumber;
449	}
450	#endif
451	uxTaskNumber++;
452
453	prvAddTaskToReadyQueue( pxNewTCB );
454
455	xReturn = pdPASS;
456	traceTASK_CREATE( pxNewTCB );
457	}
458	portEXIT_CRITICAL();
459	}
460	else
461	{
462	xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
463	traceTASK_CREATE_FAILED( pxNewTCB );
464	}
465
466	if( xReturn == pdPASS )
467	{
468	if( ( void * ) pxCreatedTask != NULL )
469	{
470	/* Pass the TCB out - in an anonymous way. The calling function/
471	task can use this as a handle to delete the task later if
472	required.*/
473	*pxCreatedTask = ( xTaskHandle ) pxNewTCB;
474	}
475
476	if( xSchedulerRunning != pdFALSE )
477	{
478	/* If the created task is of a higher priority than the current task
479	then it should run now. */
480	if( pxCurrentTCB->uxPriority < uxPriority )
481	{
482	taskYIELD();
483	}
484	}
485	}
486
487	return xReturn;
488	}
489	/-----------------------------------------------------------/
490
491	#if ( INCLUDE_vTaskDelete == 1 )
492
493	void vTaskDelete( xTaskHandle pxTaskToDelete )
494	{
495	tskTCB *pxTCB;
496
497	taskENTER_CRITICAL();
498	{
499	/* Ensure a yield is performed if the current task is being
500	deleted. */
501	if( pxTaskToDelete == pxCurrentTCB )
502	{
503	pxTaskToDelete = NULL;
504	}
505
506	/* If null is passed in here then we are deleting ourselves. */
507	pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
508
509	/* Remove task from the ready list and place in the termination list.
510	This will stop the task from be scheduled. The idle task will check
511	the termination list and free up any memory allocated by the
512	scheduler for the TCB and stack. */
513	vListRemove( &( pxTCB->xGenericListItem ) );
514
515	/* Is the task waiting on an event also? */
516	if( pxTCB->xEventListItem.pvContainer )
517	{
518	vListRemove( &( pxTCB->xEventListItem ) );
519	}
520
521	vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
522
523	/* Increment the ucTasksDeleted variable so the idle task knows
524	there is a task that has been deleted and that it should therefore
525	check the xTasksWaitingTermination list. */
526	++uxTasksDeleted;
527
528	/* Increment the uxTaskNumberVariable also so kernel aware debuggers
529	can detect that the task lists need re-generating. */
530	uxTaskNumber++;
531
532	traceTASK_DELETE( pxTCB );
533	}
534	taskEXIT_CRITICAL();
535
536	/* Force a reschedule if we have just deleted the current task. */
537	if( xSchedulerRunning != pdFALSE )
538	{
539	if( ( void * ) pxTaskToDelete == NULL )
540	{
541	taskYIELD();
542	}
543	}
544	}
545
546	#endif
547
548
549
550
551
552
553	/*-----------------------------------------------------------
554	* TASK CONTROL API documented in task.h
555	----------------------------------------------------------/
556
557	#if ( INCLUDE_vTaskDelayUntil == 1 )
558
559	void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
560	{
561	portTickType xTimeToWake;
562	portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
563
564	vTaskSuspendAll();
565	{
566	/* Generate the tick time at which the task wants to wake. */
567	xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
568
569	if( xTickCount < *pxPreviousWakeTime )
570	{
571	/* The tick count has overflowed since this function was
572	lasted called. In this case the only time we should ever
573	actually delay is if the wake time has also overflowed,
574	and the wake time is greater than the tick time. When this
575	is the case it is as if neither time had overflowed. */
576	if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
577	{
578	xShouldDelay = pdTRUE;
579	}
580	}
581	else
582	{
583	/* The tick time has not overflowed. In this case we will
584	delay if either the wake time has overflowed, and/or the
585	tick time is less than the wake time. */
586	if( ( xTimeToWake < *pxPreviousWakeTime ) \|\| ( xTimeToWake > xTickCount ) )
587	{
588	xShouldDelay = pdTRUE;
589	}
590	}
591
592	/* Update the wake time ready for the next call. */
593	*pxPreviousWakeTime = xTimeToWake;
594
595	if( xShouldDelay )
596	{
597	traceTASK_DELAY_UNTIL();
598
599	/* We must remove ourselves from the ready list before adding
600	ourselves to the blocked list as the same list item is used for
601	both lists. */
602	vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
603
604	/* The list item will be inserted in wake time order. */
605	listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
606
607	if( xTimeToWake < xTickCount )
608	{
609	/* Wake time has overflowed. Place this item in the
610	overflow list. */
611	vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
612	}
613	else
614	{
615	/* The wake time has not overflowed, so we can use the
616	current block list. */
617	vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
618	}
619	}
620	}
621	xAlreadyYielded = xTaskResumeAll();
622
623	/* Force a reschedule if xTaskResumeAll has not already done so, we may
624	have put ourselves to sleep. */
625	if( !xAlreadyYielded )
626	{
627	taskYIELD();
628	}
629	}
630
631	#endif
632	/-----------------------------------------------------------/
633
634	#if ( INCLUDE_vTaskDelay == 1 )
635
636	void vTaskDelay( portTickType xTicksToDelay )
637	{
638	portTickType xTimeToWake;
639	signed portBASE_TYPE xAlreadyYielded = pdFALSE;
640
641	/* A delay time of zero just forces a reschedule. */
642	if( xTicksToDelay > ( portTickType ) 0 )
643	{
644	vTaskSuspendAll();
645	{
646	traceTASK_DELAY();
647
648	/* A task that is removed from the event list while the
649	scheduler is suspended will not get placed in the ready
650	list or removed from the blocked list until the scheduler
651	is resumed.
652
653	This task cannot be in an event list as it is the currently
654	executing task. */
655
656	/* Calculate the time to wake - this may overflow but this is
657	not a problem. */
658	xTimeToWake = xTickCount + xTicksToDelay;
659
660	/* We must remove ourselves from the ready list before adding
661	ourselves to the blocked list as the same list item is used for
662	both lists. */
663	vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
664
665	/* The list item will be inserted in wake time order. */
666	listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
667
668	if( xTimeToWake < xTickCount )
669	{
670	/* Wake time has overflowed. Place this item in the
671	overflow list. */
672	vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
673	}
674	else
675	{
676	/* The wake time has not overflowed, so we can use the
677	current block list. */
678	vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
679	}
680	}
681	xAlreadyYielded = xTaskResumeAll();
682	}
683
684	/* Force a reschedule if xTaskResumeAll has not already done so, we may
685	have put ourselves to sleep. */
686	if( !xAlreadyYielded )
687	{
688	taskYIELD();
689	}
690	}
691
692	#endif
693	/-----------------------------------------------------------/
694
695	#if ( INCLUDE_uxTaskPriorityGet == 1 )
696
697	unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
698	{
699	tskTCB *pxTCB;
700	unsigned portBASE_TYPE uxReturn;
701
702	taskENTER_CRITICAL();
703	{
704	/* If null is passed in here then we are changing the
705	priority of the calling function. */
706	pxTCB = prvGetTCBFromHandle( pxTask );
707	uxReturn = pxTCB->uxPriority;
708	}
709	taskEXIT_CRITICAL();
710
711	return uxReturn;
712	}
713
714	#endif
715	/-----------------------------------------------------------/
716
717	#if ( INCLUDE_vTaskPrioritySet == 1 )
718
719	void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
720	{
721	tskTCB *pxTCB;
722	unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
723
724	/* Ensure the new priority is valid. */
725	if( uxNewPriority >= configMAX_PRIORITIES )
726	{
727	uxNewPriority = configMAX_PRIORITIES - 1;
728	}
729
730	taskENTER_CRITICAL();
731	{
732	if( pxTask == pxCurrentTCB )
733	{
734	pxTask = NULL;
735	}
736
737	/* If null is passed in here then we are changing the
738	priority of the calling function. */
739	pxTCB = prvGetTCBFromHandle( pxTask );
740
741	traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
742
743	#if ( configUSE_MUTEXES == 1 )
744	{
745	uxCurrentPriority = pxTCB->uxBasePriority;
746	}
747	#else
748	{
749	uxCurrentPriority = pxTCB->uxPriority;
750	}
751	#endif
752
753	if( uxCurrentPriority != uxNewPriority )
754	{
755	/* The priority change may have readied a task of higher
756	priority than the calling task. */
757	if( uxNewPriority > uxCurrentPriority )
758	{
759	if( pxTask != NULL )
760	{
761	/* The priority of another task is being raised. If we
762	were raising the priority of the currently running task
763	there would be no need to switch as it must have already
764	been the highest priority task. */
765	xYieldRequired = pdTRUE;
766	}
767	}
768	else if( pxTask == NULL )
769	{
770	/* Setting our own priority down means there may now be another
771	task of higher priority that is ready to execute. */
772	xYieldRequired = pdTRUE;
773	}
774
775
776
777	#if ( configUSE_MUTEXES == 1 )
778	{
779	/* Only change the priority being used if the task is not
780	currently using an inherited priority. */
781	if( pxTCB->uxBasePriority == pxTCB->uxPriority )
782	{
783	pxTCB->uxPriority = uxNewPriority;
784	}
785
786	/* The base priority gets set whatever. */
787	pxTCB->uxBasePriority = uxNewPriority;
788	}
789	#else
790	{
791	pxTCB->uxPriority = uxNewPriority;
792	}
793	#endif
794
795	listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
796
797	/* If the task is in the blocked or suspended list we need do
798	nothing more than change it's priority variable. However, if
799	the task is in a ready list it needs to be removed and placed
800	in the queue appropriate to its new priority. */
801	if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
802	{
803	/* The task is currently in its ready list - remove before adding
804	it to it's new ready list. As we are in a critical section we
805	can do this even if the scheduler is suspended. */
806	vListRemove( &( pxTCB->xGenericListItem ) );
807	prvAddTaskToReadyQueue( pxTCB );
808	}
809
810	if( xYieldRequired == pdTRUE )
811	{
812	taskYIELD();
813	}
814	}
815	}
816	taskEXIT_CRITICAL();
817	}
818
819	#endif
820	/-----------------------------------------------------------/
821
822	#if ( INCLUDE_vTaskSuspend == 1 )
823
824	void vTaskSuspend( xTaskHandle pxTaskToSuspend )
825	{
826	tskTCB *pxTCB;
827
828	taskENTER_CRITICAL();
829	{
830	/* Ensure a yield is performed if the current task is being
831	suspended. */
832	if( pxTaskToSuspend == pxCurrentTCB )
833	{
834	pxTaskToSuspend = NULL;
835	}
836
837	/* If null is passed in here then we are suspending ourselves. */
838	pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
839
840	traceTASK_SUSPEND( pxTCB );
841
842	/* Remove task from the ready/delayed list and place in the suspended list. */
843	vListRemove( &( pxTCB->xGenericListItem ) );
844
845	/* Is the task waiting on an event also? */
846	if( pxTCB->xEventListItem.pvContainer )
847	{
848	vListRemove( &( pxTCB->xEventListItem ) );
849	}
850
851	vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
852	}
853	taskEXIT_CRITICAL();
854
855	/* We may have just suspended the current task. */
856	if( ( void * ) pxTaskToSuspend == NULL )
857	{
858	taskYIELD();
859	}
860	}
861
862	#endif
863	/-----------------------------------------------------------/
864
865	#if ( INCLUDE_vTaskSuspend == 1 )
866
867	signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
868	{
869	portBASE_TYPE xReturn = pdFALSE;
870	const tskTCB * const pxTCB = ( tskTCB * ) xTask;
871
872	/* Is the task we are attempting to resume actually in the
873	suspended list? */
874	if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
875	{
876	/* Has the task already been resumed from within an ISR? */
877	if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
878	{
879	/* Is it in the suspended list because it is in the
880	Suspended state? It is possible to be in the suspended
881	list because it is blocked on a task with no timeout
882	specified. */
883	if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
884	{
885	xReturn = pdTRUE;
886	}
887	}
888	}
889
890	return xReturn;
891	}
892
893	#endif
894	/-----------------------------------------------------------/
895
896	#if ( INCLUDE_vTaskSuspend == 1 )
897
898	void vTaskResume( xTaskHandle pxTaskToResume )
899	{
900	tskTCB *pxTCB;
901
902	/* Remove the task from whichever list it is currently in, and place
903	it in the ready list. */
904	pxTCB = ( tskTCB * ) pxTaskToResume;
905
906	/* The parameter cannot be NULL as it is impossible to resume the
907	currently executing task. */
908	if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
909	{
910	taskENTER_CRITICAL();
911	{
912	if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
913	{
914	traceTASK_RESUME( pxTCB );
915
916	/* As we are in a critical section we can access the ready
917	lists even if the scheduler is suspended. */
918	vListRemove( &( pxTCB->xGenericListItem ) );
919	prvAddTaskToReadyQueue( pxTCB );
920
921	/* We may have just resumed a higher priority task. */
922	if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
923	{
924	/* This yield may not cause the task just resumed to run, but
925	will leave the lists in the correct state for the next yield. */
926	taskYIELD();
927	}
928	}
929	}
930	taskEXIT_CRITICAL();
931	}
932	}
933
934	#endif
935
936	/-----------------------------------------------------------/
937
938	#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
939
940	portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
941	{
942	portBASE_TYPE xYieldRequired = pdFALSE;
943	tskTCB *pxTCB;
944
945	pxTCB = ( tskTCB * ) pxTaskToResume;
946
947	if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
948	{
949	traceTASK_RESUME_FROM_ISR( pxTCB );
950
951	if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
952	{
953	xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
954	vListRemove( &( pxTCB->xGenericListItem ) );
955	prvAddTaskToReadyQueue( pxTCB );
956	}
957	else
958	{
959	/* We cannot access the delayed or ready lists, so will hold this
960	task pending until the scheduler is resumed, at which point a
961	yield will be performed if necessary. */
962	vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
963	}
964	}
965
966	return xYieldRequired;
967	}
968
969	#endif
970
971
972
973
974	/*-----------------------------------------------------------
975	* PUBLIC SCHEDULER CONTROL documented in task.h
976	----------------------------------------------------------/
977
978
979	void vTaskStartScheduler( void )
980	{
981	portBASE_TYPE xReturn;
982
983	/* Add the idle task at the lowest priority. */
984	xReturn = xTaskCreate( prvIdleTask, ( signed portCHAR * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
985
986	if( xReturn == pdPASS )
987	{
988	/* Interrupts are turned off here, to ensure a tick does not occur
989	before or during the call to xPortStartScheduler(). The stacks of
990	the created tasks contain a status word with interrupts switched on
991	so interrupts will automatically get re-enabled when the first task
992	starts to run.
993
994	STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
995	DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
996	portDISABLE_INTERRUPTS();
997
998	xSchedulerRunning = pdTRUE;
999	xTickCount = ( portTickType ) 0;
1000
1001	/* If configGENERATE_RUN_TIME_STATS is defined then the following
1002	macro must be defined to configure the timer/counter used to generate
1003	the run time counter time base. */
1004	portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
1005
1006	/* Setting up the timer tick is hardware specific and thus in the
1007	portable interface. */
1008	if( xPortStartScheduler() )
1009	{
1010	/* Should not reach here as if the scheduler is running the
1011	function will not return. */
1012	}
1013	else
1014	{
1015	/* Should only reach here if a task calls xTaskEndScheduler(). */
1016	}
1017	}
1018	}
1019	/-----------------------------------------------------------/
1020
1021	void vTaskEndScheduler( void )
1022	{
1023	/* Stop the scheduler interrupts and call the portable scheduler end
1024	routine so the original ISRs can be restored if necessary. The port
1025	layer must ensure interrupts enable bit is left in the correct state. */
1026	portDISABLE_INTERRUPTS();
1027	xSchedulerRunning = pdFALSE;
1028	vPortEndScheduler();
1029	}
1030	/----------------------------------------------------------/
1031
1032	void vTaskSuspendAll( void )
1033	{
1034	/* A critical section is not required as the variable is of type
1035	portBASE_TYPE. */
1036	++uxSchedulerSuspended;
1037	}
1038	/----------------------------------------------------------/
1039
1040	signed portBASE_TYPE xTaskResumeAll( void )
1041	{
1042	register tskTCB *pxTCB;
1043	signed portBASE_TYPE xAlreadyYielded = pdFALSE;
1044
1045	/* It is possible that an ISR caused a task to be removed from an event
1046	list while the scheduler was suspended. If this was the case then the
1047	removed task will have been added to the xPendingReadyList. Once the
1048	scheduler has been resumed it is safe to move all the pending ready
1049	tasks from this list into their appropriate ready list. */
1050	portENTER_CRITICAL();
1051	{
1052	--uxSchedulerSuspended;
1053
1054	if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
1055	{
1056	if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
1057	{
1058	portBASE_TYPE xYieldRequired = pdFALSE;
1059
1060	/* Move any readied tasks from the pending list into the
1061	appropriate ready list. */
1062	while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL )
1063	{
1064	vListRemove( &( pxTCB->xEventListItem ) );
1065	vListRemove( &( pxTCB->xGenericListItem ) );
1066	prvAddTaskToReadyQueue( pxTCB );
1067
1068	/* If we have moved a task that has a priority higher than
1069	the current task then we should yield. */
1070	if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
1071	{
1072	xYieldRequired = pdTRUE;
1073	}
1074	}
1075
1076	/* If any ticks occurred while the scheduler was suspended then
1077	they should be processed now. This ensures the tick count does not
1078	slip, and that any delayed tasks are resumed at the correct time. */
1079	if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
1080	{
1081	while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
1082	{
1083	vTaskIncrementTick();
1084	--uxMissedTicks;
1085	}
1086
1087	/* As we have processed some ticks it is appropriate to yield
1088	to ensure the highest priority task that is ready to run is
1089	the task actually running. */
1090	#if configUSE_PREEMPTION == 1
1091	{
1092	xYieldRequired = pdTRUE;
1093	}
1094	#endif
1095	}
1096
1097	if( ( xYieldRequired == pdTRUE ) \|\| ( xMissedYield == pdTRUE ) )
1098	{
1099	xAlreadyYielded = pdTRUE;
1100	xMissedYield = pdFALSE;
1101	taskYIELD();
1102	}
1103	}
1104	}
1105	}
1106	portEXIT_CRITICAL();
1107
1108	return xAlreadyYielded;
1109	}
1110
1111
1112
1113
1114
1115
1116	/*-----------------------------------------------------------
1117	* PUBLIC TASK UTILITIES documented in task.h
1118	----------------------------------------------------------/
1119
1120
1121
1122	portTickType xTaskGetTickCount( void )
1123	{
1124	portTickType xTicks;
1125
1126	/* Critical section required if running on a 16 bit processor. */
1127	taskENTER_CRITICAL();
1128	{
1129	xTicks = xTickCount;
1130	}
1131	taskEXIT_CRITICAL();
1132
1133	return xTicks;
1134	}
1135	/-----------------------------------------------------------/
1136
1137	unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
1138	{
1139	/* A critical section is not required because the variables are of type
1140	portBASE_TYPE. */
1141	return uxCurrentNumberOfTasks;
1142	}
1143	/-----------------------------------------------------------/
1144
1145	#if ( configUSE_TRACE_FACILITY == 1 )
1146
1147	void vTaskList( signed portCHAR *pcWriteBuffer )
1148	{
1149	unsigned portBASE_TYPE uxQueue;
1150
1151	/* This is a VERY costly function that should be used for debug only.
1152	It leaves interrupts disabled for a LONG time. */
1153
1154	vTaskSuspendAll();
1155	{
1156	/* Run through all the lists that could potentially contain a TCB and
1157	report the task name, state and stack high water mark. */
1158
1159	pcWriteBuffer[ 0 ] = ( signed portCHAR ) 0x00;
1160	strcat( ( portCHAR * ) pcWriteBuffer, ( const portCHAR * ) "\r\n" );
1161
1162	uxQueue = uxTopUsedPriority + 1;
1163
1164	do
1165	{
1166	uxQueue--;
1167
1168	if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
1169	{
1170	prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
1171	}
1172	}while( uxQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
1173
1174	if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
1175	{
1176	prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
1177	}
1178
1179	if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
1180	{
1181	prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
1182	}
1183
1184	#if( INCLUDE_vTaskDelete == 1 )
1185	{
1186	if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
1187	{
1188	prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
1189	}
1190	}
1191	#endif
1192
1193	#if ( INCLUDE_vTaskSuspend == 1 )
1194	{
1195	if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
1196	{
1197	prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
1198	}
1199	}
1200	#endif
1201	}
1202	xTaskResumeAll();
1203	}
1204
1205	#endif
1206	/----------------------------------------------------------/
1207
1208	#if ( configGENERATE_RUN_TIME_STATS == 1 )
1209
1210	void vTaskGetRunTimeStats( signed portCHAR *pcWriteBuffer )
1211	{
1212	unsigned portBASE_TYPE uxQueue;
1213	unsigned portLONG ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
1214
1215	/* This is a VERY costly function that should be used for debug only.
1216	It leaves interrupts disabled for a LONG time. */
1217
1218	vTaskSuspendAll();
1219	{
1220	/* Run through all the lists that could potentially contain a TCB,
1221	generating a table of run timer percentages in the provided
1222	buffer. */
1223
1224	pcWriteBuffer[ 0 ] = ( signed portCHAR ) 0x00;
1225	strcat( ( portCHAR * ) pcWriteBuffer, ( const portCHAR * ) "\r\n" );
1226
1227	uxQueue = uxTopUsedPriority + 1;
1228
1229	do
1230	{
1231	uxQueue--;
1232
1233	if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
1234	{
1235	prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
1236	}
1237	}while( uxQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
1238
1239	if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
1240	{
1241	prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
1242	}
1243
1244	if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
1245	{
1246	prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
1247	}
1248
1249	#if ( INCLUDE_vTaskDelete == 1 )
1250	{
1251	if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
1252	{
1253	prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, ulTotalRunTime );
1254	}
1255	}
1256	#endif
1257
1258	#if ( INCLUDE_vTaskSuspend == 1 )
1259	{
1260	if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
1261	{
1262	prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, ulTotalRunTime );
1263	}
1264	}
1265	#endif
1266	}
1267	xTaskResumeAll();
1268	}
1269
1270	#endif
1271	/----------------------------------------------------------/
1272
1273	#if ( configUSE_TRACE_FACILITY == 1 )
1274
1275	void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize )
1276	{
1277	portENTER_CRITICAL();
1278	{
1279	pcTraceBuffer = ( signed portCHAR * )pcBuffer;
1280	pcTraceBufferStart = pcBuffer;
1281	pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
1282	xTracing = pdTRUE;
1283	}
1284	portEXIT_CRITICAL();
1285	}
1286
1287	#endif
1288	/----------------------------------------------------------/
1289
1290	#if ( configUSE_TRACE_FACILITY == 1 )
1291
1292	unsigned portLONG ulTaskEndTrace( void )
1293	{
1294	unsigned portLONG ulBufferLength;
1295
1296	portENTER_CRITICAL();
1297	xTracing = pdFALSE;
1298	portEXIT_CRITICAL();
1299
1300	ulBufferLength = ( unsigned portLONG ) ( pcTraceBuffer - pcTraceBufferStart );
1301
1302	return ulBufferLength;
1303	}
1304
1305	#endif
1306
1307
1308
1309	/*-----------------------------------------------------------
1310	* SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
1311	* documented in task.h
1312	----------------------------------------------------------/
1313
1314
1315	void vTaskIncrementTick( void )
1316	{
1317	/* Called by the portable layer each time a tick interrupt occurs.
1318	Increments the tick then checks to see if the new tick value will cause any
1319	tasks to be unblocked. */
1320	if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
1321	{
1322	++xTickCount;
1323	if( xTickCount == ( portTickType ) 0 )
1324	{
1325	xList *pxTemp;
1326
1327	/* Tick count has overflowed so we need to swap the delay lists.
1328	If there are any items in pxDelayedTaskList here then there is
1329	an error! */
1330	pxTemp = pxDelayedTaskList;
1331	pxDelayedTaskList = pxOverflowDelayedTaskList;
1332	pxOverflowDelayedTaskList = pxTemp;
1333	xNumOfOverflows++;
1334	}
1335
1336	/* See if this tick has made a timeout expire. */
1337	prvCheckDelayedTasks();
1338	}
1339	else
1340	{
1341	++uxMissedTicks;
1342
1343	/* The tick hook gets called at regular intervals, even if the
1344	scheduler is locked. */
1345	#if ( configUSE_TICK_HOOK == 1 )
1346	{
1347	extern void vApplicationTickHook( void );
1348
1349	vApplicationTickHook();
1350	}
1351	#endif
1352	}
1353
1354	#if ( configUSE_TICK_HOOK == 1 )
1355	{
1356	extern void vApplicationTickHook( void );
1357
1358	/* Guard against the tick hook being called when the missed tick
1359	count is being unwound (when the scheduler is being unlocked. */
1360	if( uxMissedTicks == 0 )
1361	{
1362	vApplicationTickHook();
1363	}
1364	}
1365	#endif
1366
1367	traceTASK_INCREMENT_TICK( xTickCount );
1368	}
1369	/-----------------------------------------------------------/
1370
1371	#if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
1372
1373	void vTaskCleanUpResources( void )
1374	{
1375	unsigned portSHORT usQueue;
1376	volatile tskTCB *pxTCB;
1377
1378	usQueue = ( unsigned portSHORT ) uxTopUsedPriority + ( unsigned portSHORT ) 1;
1379
1380	/* Remove any TCB's from the ready queues. */
1381	do
1382	{
1383	usQueue--;
1384
1385	while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
1386	{
1387	listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
1388	vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
1389
1390	prvDeleteTCB( ( tskTCB * ) pxTCB );
1391	}
1392	}while( usQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
1393
1394	/* Remove any TCB's from the delayed queue. */
1395	while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
1396	{
1397	listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
1398	vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
1399
1400	prvDeleteTCB( ( tskTCB * ) pxTCB );
1401	}
1402
1403	/* Remove any TCB's from the overflow delayed queue. */
1404	while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
1405	{
1406	listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
1407	vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
1408
1409	prvDeleteTCB( ( tskTCB * ) pxTCB );
1410	}
1411
1412	while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
1413	{
1414	listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
1415	vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
1416
1417	prvDeleteTCB( ( tskTCB * ) pxTCB );
1418	}
1419	}
1420
1421	#endif
1422	/-----------------------------------------------------------/
1423
1424	#if ( configUSE_APPLICATION_TASK_TAG == 1 )
1425
1426	void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue )
1427	{
1428	tskTCB *xTCB;
1429
1430	/* If xTask is NULL then we are setting our own task hook. */
1431	if( xTask == NULL )
1432	{
1433	xTCB = ( tskTCB * ) pxCurrentTCB;
1434	}
1435	else
1436	{
1437	xTCB = ( tskTCB * ) xTask;
1438	}
1439
1440	/* Save the hook function in the TCB. A critical section is required as
1441	the value can be accessed from an interrupt. */
1442	portENTER_CRITICAL();
1443	xTCB->pxTaskTag = pxTagValue;
1444	portEXIT_CRITICAL();
1445	}
1446
1447	#endif
1448	/-----------------------------------------------------------/
1449
1450	#if ( configUSE_APPLICATION_TASK_TAG == 1 )
1451
1452	pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
1453	{
1454	tskTCB *xTCB;
1455	pdTASK_HOOK_CODE xReturn;
1456
1457	/* If xTask is NULL then we are setting our own task hook. */
1458	if( xTask == NULL )
1459	{
1460	xTCB = ( tskTCB * ) pxCurrentTCB;
1461	}
1462	else
1463	{
1464	xTCB = ( tskTCB * ) xTask;
1465	}
1466
1467	/* Save the hook function in the TCB. A critical section is required as
1468	the value can be accessed from an interrupt. */
1469	portENTER_CRITICAL();
1470	xReturn = xTCB->pxTaskTag;
1471	portEXIT_CRITICAL();
1472
1473	return xReturn;
1474	}
1475
1476	#endif
1477	/-----------------------------------------------------------/
1478
1479	#if ( configUSE_APPLICATION_TASK_TAG == 1 )
1480
1481	portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
1482	{
1483	tskTCB *xTCB;
1484	portBASE_TYPE xReturn;
1485
1486	/* If xTask is NULL then we are calling our own task hook. */
1487	if( xTask == NULL )
1488	{
1489	xTCB = ( tskTCB * ) pxCurrentTCB;
1490	}
1491	else
1492	{
1493	xTCB = ( tskTCB * ) xTask;
1494	}
1495
1496	if( xTCB->pxTaskTag != NULL )
1497	{
1498	xReturn = xTCB->pxTaskTag( pvParameter );
1499	}
1500	else
1501	{
1502	xReturn = pdFAIL;
1503	}
1504
1505	return xReturn;
1506	}
1507
1508	#endif
1509	/-----------------------------------------------------------/
1510
1511	void vTaskSwitchContext( void )
1512	{
1513	if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
1514	{
1515	/* The scheduler is currently suspended - do not allow a context
1516	switch. */
1517	xMissedYield = pdTRUE;
1518	return;
1519	}
1520
1521	traceTASK_SWITCHED_OUT();
1522
1523	#if ( configGENERATE_RUN_TIME_STATS == 1 )
1524	{
1525	unsigned portLONG ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
1526
1527	/* Add the amount of time the task has been running to the accumulated
1528	time so far. The time the task started running was stored in
1529	ulTaskSwitchedInTime. Note that there is no overflow protection here
1530	so count values are only valid until the timer overflows. Generally
1531	this will be about 1 hour assuming a 1uS timer increment. */
1532	pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
1533	ulTaskSwitchedInTime = ulTempCounter;
1534	}
1535	#endif
1536
1537	taskFIRST_CHECK_FOR_STACK_OVERFLOW();
1538	taskSECOND_CHECK_FOR_STACK_OVERFLOW();
1539
1540	/* Find the highest priority queue that contains ready tasks. */
1541	while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
1542	{
1543	--uxTopReadyPriority;
1544	}
1545
1546	/* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
1547	same priority get an equal share of the processor time. */
1548	listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
1549
1550	traceTASK_SWITCHED_IN();
1551	vWriteTraceToBuffer();
1552	}
1553	/-----------------------------------------------------------/
1554
1555	void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
1556	{
1557	portTickType xTimeToWake;
1558
1559	/* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
1560	SCHEDULER SUSPENDED. */
1561
1562	/* Place the event list item of the TCB in the appropriate event list.
1563	This is placed in the list in priority order so the highest priority task
1564	is the first to be woken by the event. */
1565	vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
1566
1567	/* We must remove ourselves from the ready list before adding ourselves
1568	to the blocked list as the same list item is used for both lists. We have
1569	exclusive access to the ready lists as the scheduler is locked. */
1570	vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
1571
1572
1573	#if ( INCLUDE_vTaskSuspend == 1 )
1574	{
1575	if( xTicksToWait == portMAX_DELAY )
1576	{
1577	/* Add ourselves to the suspended task list instead of a delayed task
1578	list to ensure we are not woken by a timing event. We will block
1579	indefinitely. */
1580	vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
1581	}
1582	else
1583	{
1584	/* Calculate the time at which the task should be woken if the event does
1585	not occur. This may overflow but this doesn't matter. */
1586	xTimeToWake = xTickCount + xTicksToWait;
1587
1588	listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
1589
1590	if( xTimeToWake < xTickCount )
1591	{
1592	/* Wake time has overflowed. Place this item in the overflow list. */
1593	vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
1594	}
1595	else
1596	{
1597	/* The wake time has not overflowed, so we can use the current block list. */
1598	vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
1599	}
1600	}
1601	}
1602	#else
1603	{
1604	/* Calculate the time at which the task should be woken if the event does
1605	not occur. This may overflow but this doesn't matter. */
1606	xTimeToWake = xTickCount + xTicksToWait;
1607
1608	listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
1609
1610	if( xTimeToWake < xTickCount )
1611	{
1612	/* Wake time has overflowed. Place this item in the overflow list. */
1613	vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
1614	}
1615	else
1616	{
1617	/* The wake time has not overflowed, so we can use the current block list. */
1618	vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
1619	}
1620	}
1621	#endif
1622	}
1623	/-----------------------------------------------------------/
1624
1625	signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
1626	{
1627	tskTCB *pxUnblockedTCB;
1628	portBASE_TYPE xReturn;
1629
1630	/* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
1631	SCHEDULER SUSPENDED. It can also be called from within an ISR. */
1632
1633	/* The event list is sorted in priority order, so we can remove the
1634	first in the list, remove the TCB from the delayed list, and add
1635	it to the ready list.
1636
1637	If an event is for a queue that is locked then this function will never
1638	get called - the lock count on the queue will get modified instead. This
1639	means we can always expect exclusive access to the event list here. */
1640	pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
1641	vListRemove( &( pxUnblockedTCB->xEventListItem ) );
1642
1643	if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
1644	{
1645	vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
1646	prvAddTaskToReadyQueue( pxUnblockedTCB );
1647	}
1648	else
1649	{
1650	/* We cannot access the delayed or ready lists, so will hold this
1651	task pending until the scheduler is resumed. */
1652	vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
1653	}
1654
1655	if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
1656	{
1657	/* Return true if the task removed from the event list has
1658	a higher priority than the calling task. This allows
1659	the calling task to know if it should force a context
1660	switch now. */
1661	xReturn = pdTRUE;
1662	}
1663	else
1664	{
1665	xReturn = pdFALSE;
1666	}
1667
1668	return xReturn;
1669	}
1670	/-----------------------------------------------------------/
1671
1672	void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
1673	{
1674	pxTimeOut->xOverflowCount = xNumOfOverflows;
1675	pxTimeOut->xTimeOnEntering = xTickCount;
1676	}
1677	/-----------------------------------------------------------/
1678
1679	portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
1680	{
1681	portBASE_TYPE xReturn;
1682
1683	portENTER_CRITICAL();
1684	{
1685	#if ( INCLUDE_vTaskSuspend == 1 )
1686	/* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
1687	the maximum block time then the task should block indefinitely, and
1688	therefore never time out. */
1689	if( *pxTicksToWait == portMAX_DELAY )
1690	{
1691	xReturn = pdFALSE;
1692	}
1693	else /* We are not blocking indefinitely, perform the checks below. */
1694	#endif
1695
1696	if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
1697	{
1698	/* The tick count is greater than the time at which vTaskSetTimeout()
1699	was called, but has also overflowed since vTaskSetTimeOut() was called.
1700	It must have wrapped all the way around and gone past us again. This
1701	passed since vTaskSetTimeout() was called. */
1702	xReturn = pdTRUE;
1703	}
1704	else if( ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) < ( portTickType ) *pxTicksToWait )
1705	{
1706	/* Not a genuine timeout. Adjust parameters for time remaining. */
1707	*pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
1708	vTaskSetTimeOutState( pxTimeOut );
1709	xReturn = pdFALSE;
1710	}
1711	else
1712	{
1713	xReturn = pdTRUE;
1714	}
1715	}
1716	portEXIT_CRITICAL();
1717
1718	return xReturn;
1719	}
1720	/-----------------------------------------------------------/
1721
1722	void vTaskMissedYield( void )
1723	{
1724	xMissedYield = pdTRUE;
1725	}
1726
1727	/*
1728	* -----------------------------------------------------------
1729	* The Idle task.
1730	* ----------------------------------------------------------
1731	*
1732	* The portTASK_FUNCTION() macro is used to allow port/compiler specific
1733	* language extensions. The equivalent prototype for this function is:
1734	*
1735	* void prvIdleTask( void *pvParameters );
1736	*
1737	*/
1738	static portTASK_FUNCTION( prvIdleTask, pvParameters )
1739	{
1740	/* Stop warnings. */
1741	( void ) pvParameters;
1742
1743	for( ;; )
1744	{
1745	/* See if any tasks have been deleted. */
1746	prvCheckTasksWaitingTermination();
1747
1748	#if ( configUSE_PREEMPTION == 0 )
1749	{
1750	/* If we are not using preemption we keep forcing a task switch to
1751	see if any other task has become available. If we are using
1752	preemption we don't need to do this as any task becoming available
1753	will automatically get the processor anyway. */
1754	taskYIELD();
1755	}
1756	#endif
1757
1758	#if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
1759	{
1760	/* When using preemption tasks of equal priority will be
1761	timesliced. If a task that is sharing the idle priority is ready
1762	to run then the idle task should yield before the end of the
1763	timeslice.
1764
1765	A critical region is not required here as we are just reading from
1766	the list, and an occasional incorrect value will not matter. If
1767	the ready list at the idle priority contains more than one task
1768	then a task other than the idle task is ready to execute. */
1769	if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
1770	{
1771	taskYIELD();
1772	}
1773	}
1774	#endif
1775
1776	#if ( configUSE_IDLE_HOOK == 1 )
1777	{
1778	extern void vApplicationIdleHook( void );
1779
1780	/* Call the user defined function from within the idle task. This
1781	allows the application designer to add background functionality
1782	without the overhead of a separate task.
1783	NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
1784	CALL A FUNCTION THAT MIGHT BLOCK. */
1785	vApplicationIdleHook();
1786	}
1787	#endif
1788	}
1789	} /lint !e715 pvParameters is not accessed but all task functions require the same prototype. /
1790
1791
1792
1793
1794
1795
1796
1797	/*-----------------------------------------------------------
1798	* File private functions documented at the top of the file.
1799	----------------------------------------------------------/
1800
1801
1802
1803	static void prvInitialiseTCBVariables( tskTCB pxTCB, const signed portCHAR const pcName, unsigned portBASE_TYPE uxPriority )
1804	{
1805	/* Store the function name in the TCB. */
1806	#if configMAX_TASK_NAME_LEN > 1
1807	{
1808	/* Don't bring strncpy into the build unnecessarily. */
1809	strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned portSHORT ) configMAX_TASK_NAME_LEN );
1810	}
1811	#endif
1812	pxTCB->pcTaskName[ ( unsigned portSHORT ) configMAX_TASK_NAME_LEN - ( unsigned portSHORT ) 1 ] = '\0';
1813
1814	/* This is used as an array index so must ensure it's not too large. */
1815	if( uxPriority >= configMAX_PRIORITIES )
1816	{
1817	uxPriority = configMAX_PRIORITIES - 1;
1818	}
1819
1820	pxTCB->uxPriority = uxPriority;
1821	#if ( configUSE_MUTEXES == 1 )
1822	{
1823	pxTCB->uxBasePriority = uxPriority;
1824	}
1825	#endif
1826
1827	vListInitialiseItem( &( pxTCB->xGenericListItem ) );
1828	vListInitialiseItem( &( pxTCB->xEventListItem ) );
1829
1830	/* Set the pxTCB as a link back from the xListItem. This is so we can get
1831	back to the containing TCB from a generic item in a list. */
1832	listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
1833
1834	/* Event lists are always in priority order. */
1835	listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
1836	listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
1837
1838	#if ( portCRITICAL_NESTING_IN_TCB == 1 )
1839	{
1840	pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
1841	}
1842	#endif
1843
1844	#if ( configUSE_APPLICATION_TASK_TAG == 1 )
1845	{
1846	pxTCB->pxTaskTag = NULL;
1847	}
1848	#endif
1849
1850	#if ( configGENERATE_RUN_TIME_STATS == 1 )
1851	{
1852	pxTCB->ulRunTimeCounter = 0UL;
1853	}
1854	#endif
1855	}
1856	/-----------------------------------------------------------/
1857
1858	static void prvInitialiseTaskLists( void )
1859	{
1860	unsigned portBASE_TYPE uxPriority;
1861
1862	for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )
1863	{
1864	vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
1865	}
1866
1867	vListInitialise( ( xList * ) &xDelayedTaskList1 );
1868	vListInitialise( ( xList * ) &xDelayedTaskList2 );
1869	vListInitialise( ( xList * ) &xPendingReadyList );
1870
1871	#if ( INCLUDE_vTaskDelete == 1 )
1872	{
1873	vListInitialise( ( xList * ) &xTasksWaitingTermination );
1874	}
1875	#endif
1876
1877	#if ( INCLUDE_vTaskSuspend == 1 )
1878	{
1879	vListInitialise( ( xList * ) &xSuspendedTaskList );
1880	}
1881	#endif
1882
1883	/* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
1884	using list2. */
1885	pxDelayedTaskList = &xDelayedTaskList1;
1886	pxOverflowDelayedTaskList = &xDelayedTaskList2;
1887	}
1888	/-----------------------------------------------------------/
1889
1890	static void prvCheckTasksWaitingTermination( void )
1891	{
1892	#if ( INCLUDE_vTaskDelete == 1 )
1893	{
1894	portBASE_TYPE xListIsEmpty;
1895
1896	/* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
1897	too often in the idle task. */
1898	if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
1899	{
1900	vTaskSuspendAll();
1901	xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
1902	xTaskResumeAll();
1903
1904	if( !xListIsEmpty )
1905	{
1906	tskTCB *pxTCB;
1907
1908	portENTER_CRITICAL();
1909	{
1910	pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
1911	vListRemove( &( pxTCB->xGenericListItem ) );
1912	--uxCurrentNumberOfTasks;
1913	--uxTasksDeleted;
1914	}
1915	portEXIT_CRITICAL();
1916
1917	prvDeleteTCB( pxTCB );
1918	}
1919	}
1920	}
1921	#endif
1922	}
1923	/-----------------------------------------------------------/
1924
1925	static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth )
1926	{
1927	tskTCB *pxNewTCB;
1928
1929	/* Allocate space for the TCB. Where the memory comes from depends on
1930	the implementation of the port malloc function. */
1931	pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
1932
1933	if( pxNewTCB != NULL )
1934	{
1935	/* Allocate space for the stack used by the task being created.
1936	The base of the stack memory stored in the TCB so the task can
1937	be deleted later if required. */
1938	pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMalloc( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) );
1939
1940	if( pxNewTCB->pxStack == NULL )
1941	{
1942	/* Could not allocate the stack. Delete the allocated TCB. */
1943	vPortFree( pxNewTCB );
1944	pxNewTCB = NULL;
1945	}
1946	else
1947	{
1948	/* Just to help debugging. */
1949	memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
1950	}
1951	}
1952
1953	return pxNewTCB;
1954	}
1955	/-----------------------------------------------------------/
1956
1957	#if ( configUSE_TRACE_FACILITY == 1 )
1958
1959	static void prvListTaskWithinSingleList( const signed portCHAR pcWriteBuffer, xList pxList, signed portCHAR cStatus )
1960	{
1961	volatile tskTCB pxNextTCB, pxFirstTCB;
1962	unsigned portSHORT usStackRemaining;
1963
1964	/* Write the details of all the TCB's in pxList into the buffer. */
1965	listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
1966	do
1967	{
1968	listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
1969	usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned portCHAR * ) pxNextTCB->pxStack );
1970	sprintf( pcStatusString, ( portCHAR * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
1971	strcat( ( portCHAR * ) pcWriteBuffer, ( portCHAR * ) pcStatusString );
1972
1973	} while( pxNextTCB != pxFirstTCB );
1974	}
1975
1976	#endif
1977	/-----------------------------------------------------------/
1978
1979	#if ( configGENERATE_RUN_TIME_STATS == 1 )
1980
1981	static void prvGenerateRunTimeStatsForTasksInList( const signed portCHAR pcWriteBuffer, xList pxList, unsigned portLONG ulTotalRunTime )
1982	{
1983	volatile tskTCB pxNextTCB, pxFirstTCB;
1984	unsigned portLONG ulStatsAsPercentage;
1985
1986	/* Write the run time stats of all the TCB's in pxList into the buffer. */
1987	listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
1988	do
1989	{
1990	/* Get next TCB in from the list. */
1991	listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
1992
1993	/* Divide by zero check. */
1994	if( ulTotalRunTime > 0UL )
1995	{
1996	/* Has the task run at all? */
1997	if( pxNextTCB->ulRunTimeCounter == 0 )
1998	{
1999	/* The task has used no CPU time at all. */
2000	sprintf( pcStatsString, ( portCHAR * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
2001	}
2002	else
2003	{
2004	/* What percentage of the total run time as the task used?
2005	This will always be rounded down to the nearest integer. */
2006	ulStatsAsPercentage = ( 100UL * pxNextTCB->ulRunTimeCounter ) / ulTotalRunTime;
2007
2008	if( ulStatsAsPercentage > 0UL )
2009	{
2010	sprintf( pcStatsString, ( portCHAR * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
2011	}
2012	else
2013	{
2014	/* If the percentage is zero here then the task has
2015	consumed less than 1% of the total run time. */
2016	sprintf( pcStatsString, ( portCHAR * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
2017	}
2018	}
2019
2020	strcat( ( portCHAR * ) pcWriteBuffer, ( portCHAR * ) pcStatsString );
2021	}
2022
2023	} while( pxNextTCB != pxFirstTCB );
2024	}
2025
2026	#endif
2027	/-----------------------------------------------------------/
2028
2029	#if ( ( configUSE_TRACE_FACILITY == 1 ) \|\| ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
2030
2031	unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte )
2032	{
2033	register unsigned portSHORT usCount = 0;
2034
2035	while( *pucStackByte == tskSTACK_FILL_BYTE )
2036	{
2037	pucStackByte -= portSTACK_GROWTH;
2038	usCount++;
2039	}
2040
2041	usCount /= sizeof( portSTACK_TYPE );
2042
2043	return usCount;
2044	}
2045
2046	#endif
2047	/-----------------------------------------------------------/
2048
2049	#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
2050
2051	unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
2052	{
2053	tskTCB *pxTCB;
2054	unsigned portCHAR *pcEndOfStack;
2055
2056	pxTCB = prvGetTCBFromHandle( xTask );
2057
2058	#if portSTACK_GROWTH < 0
2059	{
2060	pcEndOfStack = ( unsigned portCHAR * ) pxTCB->pxStack;
2061	}
2062	#else
2063	{
2064	pcEndOfStack = ( unsigned portCHAR * ) pxTCB->pxEndOfStack;
2065	}
2066	#endif
2067
2068	return usTaskCheckFreeStackSpace( pcEndOfStack );
2069	}
2070
2071	#endif
2072	/-----------------------------------------------------------/
2073
2074	#if ( ( INCLUDE_vTaskDelete == 1 ) \|\| ( INCLUDE_vTaskCleanUpResources == 1 ) )
2075
2076	static void prvDeleteTCB( tskTCB *pxTCB )
2077	{
2078	/* Free up the memory allocated by the scheduler for the task. It is up to
2079	the task to free any memory allocated at the application level. */
2080	vPortFree( pxTCB->pxStack );
2081	vPortFree( pxTCB );
2082	}
2083
2084	#endif
2085
2086
2087	/-----------------------------------------------------------/
2088
2089	#if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
2090
2091	xTaskHandle xTaskGetCurrentTaskHandle( void )
2092	{
2093	/* A critical section is not required as this is not called from
2094	an interrupt and the current TCB will always be the same for any
2095	individual execution thread. */
2096	return pxCurrentTCB;
2097	}
2098
2099	#endif
2100
2101	/-----------------------------------------------------------/
2102
2103	#if ( INCLUDE_xTaskGetSchedulerState == 1 )
2104
2105	portBASE_TYPE xTaskGetSchedulerState( void )
2106	{
2107	portBASE_TYPE xReturn;
2108
2109	if( xSchedulerRunning == pdFALSE )
2110	{
2111	xReturn = taskSCHEDULER_NOT_STARTED;
2112	}
2113	else
2114	{
2115	if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
2116	{
2117	xReturn = taskSCHEDULER_RUNNING;
2118	}
2119	else
2120	{
2121	xReturn = taskSCHEDULER_SUSPENDED;
2122	}
2123	}
2124
2125	return xReturn;
2126	}
2127
2128	#endif
2129	/-----------------------------------------------------------/
2130
2131	#if ( configUSE_MUTEXES == 1 )
2132
2133	void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
2134	{
2135	tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
2136
2137	if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
2138	{
2139	/* Adjust the mutex holder state to account for its new priority. */
2140	listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
2141
2142	/* If the task being modified is in the ready state it will need to
2143	be moved in to a new list. */
2144	if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
2145	{
2146	vListRemove( &( pxTCB->xGenericListItem ) );
2147
2148	/* Inherit the priority before being moved into the new list. */
2149	pxTCB->uxPriority = pxCurrentTCB->uxPriority;
2150	prvAddTaskToReadyQueue( pxTCB );
2151	}
2152	else
2153	{
2154	/* Just inherit the priority. */
2155	pxTCB->uxPriority = pxCurrentTCB->uxPriority;
2156	}
2157	}
2158	}
2159
2160	#endif
2161	/-----------------------------------------------------------/
2162
2163	#if ( configUSE_MUTEXES == 1 )
2164
2165	void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
2166	{
2167	tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
2168
2169	if( pxMutexHolder != NULL )
2170	{
2171	if( pxTCB->uxPriority != pxTCB->uxBasePriority )
2172	{
2173	/* We must be the running task to be able to give the mutex back.
2174	Remove ourselves from the ready list we currently appear in. */
2175	vListRemove( &( pxTCB->xGenericListItem ) );
2176
2177	/* Disinherit the priority before adding ourselves into the new
2178	ready list. */
2179	pxTCB->uxPriority = pxTCB->uxBasePriority;
2180	listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
2181	prvAddTaskToReadyQueue( pxTCB );
2182	}
2183	}
2184	}
2185
2186	#endif
2187	/-----------------------------------------------------------/
2188
2189	#if ( portCRITICAL_NESTING_IN_TCB == 1 )
2190
2191	void vTaskEnterCritical( void )
2192	{
2193	portDISABLE_INTERRUPTS();
2194
2195	if( xSchedulerRunning != pdFALSE )
2196	{
2197	pxCurrentTCB->uxCriticalNesting++;
2198	}
2199	}
2200
2201	#endif
2202	/-----------------------------------------------------------/
2203
2204	#if ( portCRITICAL_NESTING_IN_TCB == 1 )
2205
2206	void vTaskExitCritical( void )
2207	{
2208	if( xSchedulerRunning != pdFALSE )
2209	{
2210	if( pxCurrentTCB->uxCriticalNesting > 0 )
2211	{
2212	pxCurrentTCB->uxCriticalNesting--;
2213
2214	if( pxCurrentTCB->uxCriticalNesting == 0 )
2215	{
2216	portENABLE_INTERRUPTS();
2217	}
2218	}
2219	}
2220	}
2221
2222	#endif
2223	/-----------------------------------------------------------/
2224
2225
2226
2227

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root/webserver/example/freeRTOSexample/Source/tasks.c

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