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toni32 |
/*
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FreeRTOS.org V4.2.0 - Copyright (C) 2003-2007 Richard Barry.
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This file is part of the FreeRTOS.org distribution.
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FreeRTOS.org is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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FreeRTOS.org is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with FreeRTOS.org; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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A special exception to the GPL can be applied should you wish to distribute
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a combined work that includes FreeRTOS.org, without being obliged to provide
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the source code for any proprietary components. See the licensing section
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of http://www.FreeRTOS.org for full details of how and when the exception
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can be applied.
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***************************************************************************
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See http://www.FreeRTOS.org for documentation, latest information, license
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and contact details. Please ensure to read the configuration and relevant
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port sections of the online documentation.
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***************************************************************************
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*/
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/*
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Changes from V1.00:
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+ Call to portRESTORE_CONTEXT has been removed. The first context
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switch is now performed within sPortStartScheduler().
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Changes from V1.01:
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+ More use of 8bit data types.
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+ Function name prefixes changed where the data type returned has changed.
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+ configUSE_TRACE_FACILITY is no longer defined by default.
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Changes from V1.2.0
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+ Introduced ucTopReadyPriority. This tracks the highest priority ready
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queue that contains a valid TCB and thus makes the context switch
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slightly faster.
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+ prvAddTaskToReadyQueue() has been made a macro.
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Changes from V1.2.6
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+ Added conditional compilation directives.
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+ Extended API.
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+ Rearranged function order.
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+ Creating a task now causes a context switch if the task being created
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has a higher priority than the calling task - assuming the kernel is
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running.
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+ vTaskDelete() now only causes a context switch if the calling task is
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the task being deleted.
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Changes from V2.0.0
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+ Allow the type of the tick count to be 16 or 32 bits.
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+ Introduce xPendingReadyList feature to allow the time interrupts have to
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be disabled to be minimised.
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+ Remove the #if( INCLUDE_vTaskSuspendAll ) statements. vTaskSuspendAll()
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is now always included as it is used by the scheduler itself.
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Changes from V2.1.0
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+ Bug fix - pxCurrentTCB is now initialised before the call to
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prvInitializeTaskLists(). Previously pxCurrentTCB could be accessed
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while null.
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Changed from V2.1.1
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+ Change to where lStackSize is declared within sTaskCreate() to prevent
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compiler warnings with 8051 port.
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Changes from V2.2.0
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+ Explicit use of 'signed' qualifier on portCHAR types added.
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+ Changed odd calculation of initial pxTopOfStack value when
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portSTACK_GROWTH < 0.
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+ Removed pcVersionNumber definition.
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Changes from V2.5.3
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+ cTaskResumeAll() modified to ensure it can be called prior to the task
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lists being initialised.
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Changes from V2.5.5
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+ Added API function vTaskDelayUntil().
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+ Added INCLUDE_vTaskDelay conditional compilation.
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Changes from V2.6.0
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+ Updated the vWriteTraceToBuffer macro to always be 4 byte aligned so it
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can be used on ARM architectures.
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+ tskMAX_TASK_NAME_LEN definition replaced with the port specific
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configMAX_TASK_NAME_LEN definition.
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+ Removed the call to strcpy when copying across the task name into the
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TCB.
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+ Added ucTasksDeleted variable to prevent vTaskSuspendAll() being called
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too often in the idle task.
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Changes between V3.0.0 and V2.6.1
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+ When resuming the scheduler a yield is performed if either a tick has
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been missed, or a task is moved from the pending ready list into a ready
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list. Previously a yield was not performed on this second condition.
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+ Introduced the type portBASE_TYPE. This necessitates several API
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changes.
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+ Removed the sUsingPreemption variable. The constant defined in
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portmacro.h is now used directly.
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+ The idle task can now include an optional hook function - and no longer
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completes its time slice if other tasks with equal priority to it are
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ready to run.
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+ See the FreeRTOS.org documentation for more information on V2.x.x to
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V3.x.x modifications.
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Changes from V3.1.1
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+ Modified vTaskPrioritySet() and vTaskResume() to allow these functions to
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be called while the scheduler is suspended.
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+ Corrected the task ordering within event lists.
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Changes from V3.2.0
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+ Added function xTaskGetCurrentTaskHandle().
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Changes from V3.2.4
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+ Changed the volatile declarations on some variables to reflect the
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changes to the list definitions.
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+ Changed the order of the TCB definition so there is commonality between
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the task control block and a co-routine control block.
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+ Allow the scheduler to be started even if no tasks other than the idle
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task has been created. This allows co-routines to run even when no tasks
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have been created.
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+ The need for a context switch is now signalled if a task woken by an
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event has a priority greater or equal to the currently running task.
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Previously this was only greater than.
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Changes from V4.0.0
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+ Added the xMissedYield handling.
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Changes from V4.0.1
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+ The function vTaskList() now suspends the scheduler rather than disabling
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interrupts during the creation of the task list.
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+ Allow a task to delete itself by passing in its own handle. Previously
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this could only be done by passing in NULL.
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+ The tick hook function is now called only within a tick isr. Previously
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it was also called when the tick function was called during the scheduler
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unlocking process.
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Changes from V4.0.3
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+ Extra checks have been placed in vTaskPrioritySet() to avoid unnecessary
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yields.
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Changed from V4.0.4
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+ Bug fix: The 'value' of the event list item is updated when the priority
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of a task is changed. Previously only the priority of the TCB itself was
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changed.
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+ When resuming a task a check is first made to see if the task is actually
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suspended.
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+ vTaskPrioritySet() and vTaskResume() no longer use the event list item.
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This has not been necessary since V4.0.1 when the xMissedYield handling
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was added.
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+ Implement xTaskResumeFromISR().
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Changes from V4.0.5
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+ Added utility functions and xOverflowCount variable to facilitate the
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queue.c changes.
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Changes from V4.1.2
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+ Tasks that block on events with a timeout of portMAX_DELAY are now
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blocked indefinitely if configINCLUDE_vTaskSuspend is defined.
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Previously portMAX_DELAY was just the longest block time possible.
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Changes from V4.1.3
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+ Very small change made to xTaskCheckForTimeout() as a result of the
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SafeRTOS testing. This corrects the case where the function can return an
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invalid value - but only in an extremely unlikely scenario.
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include "FreeRTOS.h"
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#include "task.h"
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/*
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* Macro to define the amount of stack available to the idle task.
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*/
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#define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
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/*
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* Default a definitions for backwards compatibility with old
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* portmacro.h files.
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*/
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#ifndef configMAX_TASK_NAME_LEN
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#define configMAX_TASK_NAME_LEN 16
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#endif
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#ifndef INCLUDE_xTaskGetCurrentTaskHandle
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#define INCLUDE_xTaskGetCurrentTaskHandle 0
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#endif
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#ifndef configIDLE_SHOULD_YIELD
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#define configIDLE_SHOULD_YIELD 1
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#endif
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#if configMAX_TASK_NAME_LEN < 1
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#undef configMAX_TASK_NAME_LEN
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#define configMAX_TASK_NAME_LEN 1
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#endif
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#ifndef INCLUDE_xTaskResumeFromISR
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#define INCLUDE_xTaskResumeFromISR 1
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#endif
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/*
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* Task control block. A task control block (TCB) is allocated to each task,
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* and stores the context of the task.
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*/
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typedef struct tskTaskControlBlock
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{
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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. */
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xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
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xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
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unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
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portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
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unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
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signed portCHAR pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
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unsigned portSHORT usStackDepth; /*< Total depth of the stack (when empty). This is defined as the number of variables the stack can hold, not the number of bytes. */
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} tskTCB;
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/*lint -e956 */
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tskTCB * volatile pxCurrentTCB = NULL;
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/* Lists for ready and blocked tasks. --------------------*/
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static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
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static xList xDelayedTaskList1; /*< Delayed tasks. */
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static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
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static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
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static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
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static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */
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#if ( INCLUDE_vTaskDelete == 1 )
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static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
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static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
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#endif
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#if ( INCLUDE_vTaskSuspend == 1 )
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static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
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#endif
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/* File private variables. --------------------------------*/
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static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
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static volatile portTickType xTickCount = ( portTickType ) 0;
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static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
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static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
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static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
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static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
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static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
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static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
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static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
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/* Debugging and trace facilities private variables and macros. ------------*/
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/*
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* The value used to fill the stack of a task when the task is created. This
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* is used purely for checking the high water mark for tasks.
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*/
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#define tskSTACK_FILL_BYTE ( 0xa5 )
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/*
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* Macros used by vListTask to indicate which state a task is in.
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*/
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#define tskBLOCKED_CHAR ( ( signed portCHAR ) 'B' )
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#define tskREADY_CHAR ( ( signed portCHAR ) 'R' )
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#define tskDELETED_CHAR ( ( signed portCHAR ) 'D' )
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#define tskSUSPENDED_CHAR ( ( signed portCHAR ) 'S' )
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/*
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* Macros and private variables used by the trace facility.
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*/
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#if ( configUSE_TRACE_FACILITY == 1 )
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#define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned portLONG ) ( sizeof( unsigned portLONG ) + sizeof( unsigned portLONG ) ) )
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static volatile signed portCHAR * volatile pcTraceBuffer;
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static signed portCHAR *pcTraceBufferStart;
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static signed portCHAR *pcTraceBufferEnd;
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static signed portBASE_TYPE xTracing = pdFALSE;
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#endif
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/*
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* Macro that writes a trace of scheduler activity to a buffer. This trace
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* shows which task is running when and is very useful as a debugging tool.
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* As this macro is called each context switch it is a good idea to undefine
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* it if not using the facility.
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*/
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#if ( configUSE_TRACE_FACILITY == 1 )
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#define vWriteTraceToBuffer() \
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{ \
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if( xTracing ) \
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{ \
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static unsigned portBASE_TYPE uxPreviousTask = 255; \
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\
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if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
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|
|
{ \
|
| 333 |
|
|
if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
|
| 334 |
|
|
{ \
|
| 335 |
|
|
uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
|
| 336 |
|
|
*( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) xTickCount; \
|
| 337 |
|
|
pcTraceBuffer += sizeof( unsigned portLONG ); \
|
| 338 |
|
|
*( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) uxPreviousTask; \
|
| 339 |
|
|
pcTraceBuffer += sizeof( unsigned portLONG ); \
|
| 340 |
|
|
} \
|
| 341 |
|
|
else \
|
| 342 |
|
|
{ \
|
| 343 |
|
|
xTracing = pdFALSE; \
|
| 344 |
|
|
} \
|
| 345 |
|
|
} \
|
| 346 |
|
|
} \
|
| 347 |
|
|
}
|
| 348 |
|
|
|
| 349 |
|
|
#else
|
| 350 |
|
|
|
| 351 |
|
|
#define vWriteTraceToBuffer()
|
| 352 |
|
|
|
| 353 |
|
|
#endif
|
| 354 |
|
|
|
| 355 |
|
|
|
| 356 |
|
|
/*
|
| 357 |
|
|
* Place the task represented by pxTCB into the appropriate ready queue for
|
| 358 |
|
|
* the task. It is inserted at the end of the list. One quirk of this is
|
| 359 |
|
|
* that if the task being inserted is at the same priority as the currently
|
| 360 |
|
|
* executing task, then it will only be rescheduled after the currently
|
| 361 |
|
|
* executing task has been rescheduled.
|
| 362 |
|
|
*/
|
| 363 |
|
|
#define prvAddTaskToReadyQueue( pxTCB ) \
|
| 364 |
|
|
{ \
|
| 365 |
|
|
if( pxTCB->uxPriority > uxTopReadyPriority ) \
|
| 366 |
|
|
{ \
|
| 367 |
|
|
uxTopReadyPriority = pxTCB->uxPriority; \
|
| 368 |
|
|
} \
|
| 369 |
|
|
vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \
|
| 370 |
|
|
}
|
| 371 |
|
|
|
| 372 |
|
|
/*
|
| 373 |
|
|
* Macro that looks at the list of tasks that are currently delayed to see if
|
| 374 |
|
|
* any require waking.
|
| 375 |
|
|
*
|
| 376 |
|
|
* Tasks are stored in the queue in the order of their wake time - meaning
|
| 377 |
|
|
* once one tasks has been found whose timer has not expired we need not look
|
| 378 |
|
|
* any further down the list.
|
| 379 |
|
|
*/
|
| 380 |
|
|
#define prvCheckDelayedTasks() \
|
| 381 |
|
|
{ \
|
| 382 |
|
|
register tskTCB *pxTCB; \
|
| 383 |
|
|
\
|
| 384 |
|
|
while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \
|
| 385 |
|
|
{ \
|
| 386 |
|
|
if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \
|
| 387 |
|
|
{ \
|
| 388 |
|
|
break; \
|
| 389 |
|
|
} \
|
| 390 |
|
|
vListRemove( &( pxTCB->xGenericListItem ) ); \
|
| 391 |
|
|
/* Is the task waiting on an event also? */ \
|
| 392 |
|
|
if( pxTCB->xEventListItem.pvContainer ) \
|
| 393 |
|
|
{ \
|
| 394 |
|
|
vListRemove( &( pxTCB->xEventListItem ) ); \
|
| 395 |
|
|
} \
|
| 396 |
|
|
prvAddTaskToReadyQueue( pxTCB ); \
|
| 397 |
|
|
} \
|
| 398 |
|
|
}
|
| 399 |
|
|
|
| 400 |
|
|
/*
|
| 401 |
|
|
* Several functions take an xTaskHandle parameter that can optionally be NULL,
|
| 402 |
|
|
* where NULL is used to indicate that the handle of the currently executing
|
| 403 |
|
|
* task should be used in place of the parameter. This macro simply checks to
|
| 404 |
|
|
* see if the parameter is NULL and returns a pointer to the appropriate TCB.
|
| 405 |
|
|
*/
|
| 406 |
|
|
#define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )
|
| 407 |
|
|
|
| 408 |
|
|
|
| 409 |
|
|
/* File private functions. --------------------------------*/
|
| 410 |
|
|
|
| 411 |
|
|
/*
|
| 412 |
|
|
* Utility to ready a TCB for a given task. Mainly just copies the parameters
|
| 413 |
|
|
* into the TCB structure.
|
| 414 |
|
|
*/
|
| 415 |
|
|
static void prvInitialiseTCBVariables( tskTCB *pxTCB, unsigned portSHORT usStackDepth, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority );
|
| 416 |
|
|
|
| 417 |
|
|
/*
|
| 418 |
|
|
* Utility to ready all the lists used by the scheduler. This is called
|
| 419 |
|
|
* automatically upon the creation of the first task.
|
| 420 |
|
|
*/
|
| 421 |
|
|
static void prvInitialiseTaskLists( void );
|
| 422 |
|
|
|
| 423 |
|
|
/*
|
| 424 |
|
|
* The idle task, which as all tasks is implemented as a never ending loop.
|
| 425 |
|
|
* The idle task is automatically created and added to the ready lists upon
|
| 426 |
|
|
* creation of the first user task.
|
| 427 |
|
|
*
|
| 428 |
|
|
* The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
|
| 429 |
|
|
* language extensions. The equivalent prototype for this function is:
|
| 430 |
|
|
*
|
| 431 |
|
|
* void prvIdleTask( void *pvParameters );
|
| 432 |
|
|
*
|
| 433 |
|
|
*/
|
| 434 |
|
|
static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
|
| 435 |
|
|
|
| 436 |
|
|
/*
|
| 437 |
|
|
* Utility to free all memory allocated by the scheduler to hold a TCB,
|
| 438 |
|
|
* including the stack pointed to by the TCB.
|
| 439 |
|
|
*
|
| 440 |
|
|
* This does not free memory allocated by the task itself (i.e. memory
|
| 441 |
|
|
* allocated by calls to pvPortMalloc from within the tasks application code).
|
| 442 |
|
|
*/
|
| 443 |
|
|
#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
|
| 444 |
|
|
static void prvDeleteTCB( tskTCB *pxTCB );
|
| 445 |
|
|
#endif
|
| 446 |
|
|
|
| 447 |
|
|
/*
|
| 448 |
|
|
* Used only by the idle task. This checks to see if anything has been placed
|
| 449 |
|
|
* in the list of tasks waiting to be deleted. If so the task is cleaned up
|
| 450 |
|
|
* and its TCB deleted.
|
| 451 |
|
|
*/
|
| 452 |
|
|
static void prvCheckTasksWaitingTermination( void );
|
| 453 |
|
|
|
| 454 |
|
|
/*
|
| 455 |
|
|
* Allocates memory from the heap for a TCB and associated stack. Checks the
|
| 456 |
|
|
* allocation was successful.
|
| 457 |
|
|
*/
|
| 458 |
|
|
static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth );
|
| 459 |
|
|
|
| 460 |
|
|
/*
|
| 461 |
|
|
* Called from vTaskList. vListTasks details all the tasks currently under
|
| 462 |
|
|
* control of the scheduler. The tasks may be in one of a number of lists.
|
| 463 |
|
|
* prvListTaskWithinSingleList accepts a list and details the tasks from
|
| 464 |
|
|
* within just that list.
|
| 465 |
|
|
*
|
| 466 |
|
|
* THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
|
| 467 |
|
|
* NORMAL APPLICATION CODE.
|
| 468 |
|
|
*/
|
| 469 |
|
|
#if ( configUSE_TRACE_FACILITY == 1 )
|
| 470 |
|
|
|
| 471 |
|
|
static void prvListTaskWithinSingleList( signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus );
|
| 472 |
|
|
|
| 473 |
|
|
#endif
|
| 474 |
|
|
|
| 475 |
|
|
/*
|
| 476 |
|
|
* When a task is created, the stack of the task is filled with a known value.
|
| 477 |
|
|
* This function determines the 'high water mark' of the task stack by
|
| 478 |
|
|
* determining how much of the stack remains at the original preset value.
|
| 479 |
|
|
*/
|
| 480 |
|
|
#if ( configUSE_TRACE_FACILITY == 1 )
|
| 481 |
|
|
|
| 482 |
|
|
unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR *pucStackByte );
|
| 483 |
|
|
|
| 484 |
|
|
#endif
|
| 485 |
|
|
|
| 486 |
|
|
/*lint +e956 */
|
| 487 |
|
|
|
| 488 |
|
|
|
| 489 |
|
|
|
| 490 |
|
|
|
| 491 |
|
|
|
| 492 |
|
|
/*-----------------------------------------------------------
|
| 493 |
|
|
* TASK CREATION API documented in task.h
|
| 494 |
|
|
*----------------------------------------------------------*/
|
| 495 |
|
|
|
| 496 |
|
|
signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask )
|
| 497 |
|
|
{
|
| 498 |
|
|
signed portBASE_TYPE xReturn;
|
| 499 |
|
|
tskTCB * pxNewTCB;
|
| 500 |
|
|
static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberate - this is guarded before use. */
|
| 501 |
|
|
|
| 502 |
|
|
/* Allocate the memory required by the TCB and stack for the new task.
|
| 503 |
|
|
checking that the allocation was successful. */
|
| 504 |
|
|
pxNewTCB = prvAllocateTCBAndStack( usStackDepth );
|
| 505 |
|
|
|
| 506 |
|
|
if( pxNewTCB != NULL )
|
| 507 |
|
|
{
|
| 508 |
|
|
portSTACK_TYPE *pxTopOfStack;
|
| 509 |
|
|
|
| 510 |
|
|
/* Setup the newly allocated TCB with the initial state of the task. */
|
| 511 |
|
|
prvInitialiseTCBVariables( pxNewTCB, usStackDepth, pcName, uxPriority );
|
| 512 |
|
|
|
| 513 |
|
|
/* Calculate the top of stack address. This depends on whether the
|
| 514 |
|
|
stack grows from high memory to low (as per the 80x86) or visa versa.
|
| 515 |
|
|
portSTACK_GROWTH is used to make the result positive or negative as
|
| 516 |
|
|
required by the port. */
|
| 517 |
|
|
#if portSTACK_GROWTH < 0
|
| 518 |
|
|
{
|
| 519 |
|
|
pxTopOfStack = pxNewTCB->pxStack + ( pxNewTCB->usStackDepth - 1 );
|
| 520 |
|
|
}
|
| 521 |
|
|
#else
|
| 522 |
|
|
{
|
| 523 |
|
|
pxTopOfStack = pxNewTCB->pxStack;
|
| 524 |
|
|
}
|
| 525 |
|
|
#endif
|
| 526 |
|
|
|
| 527 |
|
|
/* Initialize the TCB stack to look as if the task was already running,
|
| 528 |
|
|
but had been interrupted by the scheduler. The return address is set
|
| 529 |
|
|
to the start of the task function. Once the stack has been initialised
|
| 530 |
|
|
the top of stack variable is updated. */
|
| 531 |
|
|
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pvTaskCode, pvParameters );
|
| 532 |
|
|
|
| 533 |
|
|
/* We are going to manipulate the task queues to add this task to a
|
| 534 |
|
|
ready list, so must make sure no interrupts occur. */
|
| 535 |
|
|
portENTER_CRITICAL();
|
| 536 |
|
|
{
|
| 537 |
|
|
uxCurrentNumberOfTasks++;
|
| 538 |
|
|
if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
|
| 539 |
|
|
{
|
| 540 |
|
|
/* As this is the first task it must also be the current task. */
|
| 541 |
|
|
pxCurrentTCB = pxNewTCB;
|
| 542 |
|
|
|
| 543 |
|
|
/* This is the first task to be created so do the preliminary
|
| 544 |
|
|
initialisation required. We will not recover if this call
|
| 545 |
|
|
fails, but we will report the failure. */
|
| 546 |
|
|
prvInitialiseTaskLists();
|
| 547 |
|
|
}
|
| 548 |
|
|
else
|
| 549 |
|
|
{
|
| 550 |
|
|
/* If the scheduler is not already running, make this task the
|
| 551 |
|
|
current task if it is the highest priority task to be created
|
| 552 |
|
|
so far. */
|
| 553 |
|
|
if( xSchedulerRunning == pdFALSE )
|
| 554 |
|
|
{
|
| 555 |
|
|
if( pxCurrentTCB->uxPriority <= uxPriority )
|
| 556 |
|
|
{
|
| 557 |
|
|
pxCurrentTCB = pxNewTCB;
|
| 558 |
|
|
}
|
| 559 |
|
|
}
|
| 560 |
|
|
}
|
| 561 |
|
|
|
| 562 |
|
|
/* Remember the top priority to make context switching faster. Use
|
| 563 |
|
|
the priority in pxNewTCB as this has been capped to a valid value. */
|
| 564 |
|
|
if( pxNewTCB->uxPriority > uxTopUsedPriority )
|
| 565 |
|
|
{
|
| 566 |
|
|
uxTopUsedPriority = pxNewTCB->uxPriority;
|
| 567 |
|
|
}
|
| 568 |
|
|
|
| 569 |
|
|
/* Add a counter into the TCB for tracing only. */
|
| 570 |
|
|
pxNewTCB->uxTCBNumber = uxTaskNumber;
|
| 571 |
|
|
uxTaskNumber++;
|
| 572 |
|
|
|
| 573 |
|
|
prvAddTaskToReadyQueue( pxNewTCB );
|
| 574 |
|
|
|
| 575 |
|
|
xReturn = pdPASS;
|
| 576 |
|
|
}
|
| 577 |
|
|
portEXIT_CRITICAL();
|
| 578 |
|
|
}
|
| 579 |
|
|
else
|
| 580 |
|
|
{
|
| 581 |
|
|
xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
|
| 582 |
|
|
}
|
| 583 |
|
|
|
| 584 |
|
|
if( xReturn == pdPASS )
|
| 585 |
|
|
{
|
| 586 |
|
|
if( ( void * ) pxCreatedTask != NULL )
|
| 587 |
|
|
{
|
| 588 |
|
|
/* Pass the TCB out - in an anonymous way. The calling function/
|
| 589 |
|
|
task can use this as a handle to delete the task later if
|
| 590 |
|
|
required.*/
|
| 591 |
|
|
*pxCreatedTask = ( xTaskHandle ) pxNewTCB;
|
| 592 |
|
|
}
|
| 593 |
|
|
|
| 594 |
|
|
if( xSchedulerRunning != pdFALSE )
|
| 595 |
|
|
{
|
| 596 |
|
|
/* If the created task is of a higher priority than the current task
|
| 597 |
|
|
then it should run now. */
|
| 598 |
|
|
if( pxCurrentTCB->uxPriority < uxPriority )
|
| 599 |
|
|
{
|
| 600 |
|
|
taskYIELD();
|
| 601 |
|
|
}
|
| 602 |
|
|
}
|
| 603 |
|
|
}
|
| 604 |
|
|
|
| 605 |
|
|
return xReturn;
|
| 606 |
|
|
}
|
| 607 |
|
|
/*-----------------------------------------------------------*/
|
| 608 |
|
|
|
| 609 |
|
|
#if ( INCLUDE_vTaskDelete == 1 )
|
| 610 |
|
|
|
| 611 |
|
|
void vTaskDelete( xTaskHandle pxTaskToDelete )
|
| 612 |
|
|
{
|
| 613 |
|
|
tskTCB *pxTCB;
|
| 614 |
|
|
|
| 615 |
|
|
taskENTER_CRITICAL();
|
| 616 |
|
|
{
|
| 617 |
|
|
/* Ensure a yield is performed if the current task is being
|
| 618 |
|
|
deleted. */
|
| 619 |
|
|
if( pxTaskToDelete == pxCurrentTCB )
|
| 620 |
|
|
{
|
| 621 |
|
|
pxTaskToDelete = NULL;
|
| 622 |
|
|
}
|
| 623 |
|
|
|
| 624 |
|
|
/* If null is passed in here then we are deleting ourselves. */
|
| 625 |
|
|
pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
|
| 626 |
|
|
|
| 627 |
|
|
/* Remove task from the ready list and place in the termination list.
|
| 628 |
|
|
This will stop the task from be scheduled. The idle task will check
|
| 629 |
|
|
the termination list and free up any memory allocated by the
|
| 630 |
|
|
scheduler for the TCB and stack. */
|
| 631 |
|
|
vListRemove( &( pxTCB->xGenericListItem ) );
|
| 632 |
|
|
|
| 633 |
|
|
/* Is the task waiting on an event also? */
|
| 634 |
|
|
if( pxTCB->xEventListItem.pvContainer )
|
| 635 |
|
|
{
|
| 636 |
|
|
vListRemove( &( pxTCB->xEventListItem ) );
|
| 637 |
|
|
}
|
| 638 |
|
|
|
| 639 |
|
|
vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
|
| 640 |
|
|
|
| 641 |
|
|
/* Increment the ucTasksDeleted variable so the idle task knows
|
| 642 |
|
|
there is a task that has been deleted and that it should therefore
|
| 643 |
|
|
check the xTasksWaitingTermination list. */
|
| 644 |
|
|
++uxTasksDeleted;
|
| 645 |
|
|
}
|
| 646 |
|
|
taskEXIT_CRITICAL();
|
| 647 |
|
|
|
| 648 |
|
|
/* Force a reschedule if we have just deleted the current task. */
|
| 649 |
|
|
if( xSchedulerRunning != pdFALSE )
|
| 650 |
|
|
{
|
| 651 |
|
|
if( ( void * ) pxTaskToDelete == NULL )
|
| 652 |
|
|
{
|
| 653 |
|
|
taskYIELD();
|
| 654 |
|
|
}
|
| 655 |
|
|
}
|
| 656 |
|
|
}
|
| 657 |
|
|
|
| 658 |
|
|
#endif
|
| 659 |
|
|
|
| 660 |
|
|
|
| 661 |
|
|
|
| 662 |
|
|
|
| 663 |
|
|
|
| 664 |
|
|
|
| 665 |
|
|
/*-----------------------------------------------------------
|
| 666 |
|
|
* TASK CONTROL API documented in task.h
|
| 667 |
|
|
*----------------------------------------------------------*/
|
| 668 |
|
|
|
| 669 |
|
|
#if ( INCLUDE_vTaskDelayUntil == 1 )
|
| 670 |
|
|
|
| 671 |
|
|
void vTaskDelayUntil( portTickType *pxPreviousWakeTime, portTickType xTimeIncrement )
|
| 672 |
|
|
{
|
| 673 |
|
|
portTickType xTimeToWake;
|
| 674 |
|
|
portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
|
| 675 |
|
|
|
| 676 |
|
|
vTaskSuspendAll();
|
| 677 |
|
|
{
|
| 678 |
|
|
/* Generate the tick time at which the task wants to wake. */
|
| 679 |
|
|
xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
|
| 680 |
|
|
|
| 681 |
|
|
if( xTickCount < *pxPreviousWakeTime )
|
| 682 |
|
|
{
|
| 683 |
|
|
/* The tick count has overflowed since this function was
|
| 684 |
|
|
lasted called. In this case the only time we should ever
|
| 685 |
|
|
actually delay is if the wake time has also overflowed,
|
| 686 |
|
|
and the wake time is greater than the tick time. When this
|
| 687 |
|
|
is the case it is as if neither time had overflowed. */
|
| 688 |
|
|
if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
|
| 689 |
|
|
{
|
| 690 |
|
|
xShouldDelay = pdTRUE;
|
| 691 |
|
|
}
|
| 692 |
|
|
}
|
| 693 |
|
|
else
|
| 694 |
|
|
{
|
| 695 |
|
|
/* The tick time has not overflowed. In this case we will
|
| 696 |
|
|
delay if either the wake time has overflowed, and/or the
|
| 697 |
|
|
tick time is less than the wake time. */
|
| 698 |
|
|
if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
|
| 699 |
|
|
{
|
| 700 |
|
|
xShouldDelay = pdTRUE;
|
| 701 |
|
|
}
|
| 702 |
|
|
}
|
| 703 |
|
|
|
| 704 |
|
|
/* Update the wake time ready for the next call. */
|
| 705 |
|
|
*pxPreviousWakeTime = xTimeToWake;
|
| 706 |
|
|
|
| 707 |
|
|
if( xShouldDelay )
|
| 708 |
|
|
{
|
| 709 |
|
|
/* We must remove ourselves from the ready list before adding
|
| 710 |
|
|
ourselves to the blocked list as the same list item is used for
|
| 711 |
|
|
both lists. */
|
| 712 |
|
|
vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
|
| 713 |
|
|
|
| 714 |
|
|
/* The list item will be inserted in wake time order. */
|
| 715 |
|
|
listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
|
| 716 |
|
|
|
| 717 |
|
|
if( xTimeToWake < xTickCount )
|
| 718 |
|
|
{
|
| 719 |
|
|
/* Wake time has overflowed. Place this item in the
|
| 720 |
|
|
overflow list. */
|
| 721 |
|
|
vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
|
| 722 |
|
|
}
|
| 723 |
|
|
else
|
| 724 |
|
|
{
|
| 725 |
|
|
/* The wake time has not overflowed, so we can use the
|
| 726 |
|
|
current block list. */
|
| 727 |
|
|
vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
|
| 728 |
|
|
}
|
| 729 |
|
|
}
|
| 730 |
|
|
}
|
| 731 |
|
|
xAlreadyYielded = xTaskResumeAll();
|
| 732 |
|
|
|
| 733 |
|
|
/* Force a reschedule if xTaskResumeAll has not already done so, we may
|
| 734 |
|
|
have put ourselves to sleep. */
|
| 735 |
|
|
if( !xAlreadyYielded )
|
| 736 |
|
|
{
|
| 737 |
|
|
taskYIELD();
|
| 738 |
|
|
}
|
| 739 |
|
|
}
|
| 740 |
|
|
|
| 741 |
|
|
#endif
|
| 742 |
|
|
/*-----------------------------------------------------------*/
|
| 743 |
|
|
|
| 744 |
|
|
#if ( INCLUDE_vTaskDelay == 1 )
|
| 745 |
|
|
|
| 746 |
|
|
void vTaskDelay( portTickType xTicksToDelay )
|
| 747 |
|
|
{
|
| 748 |
|
|
portTickType xTimeToWake;
|
| 749 |
|
|
signed portBASE_TYPE xAlreadyYielded = pdFALSE;
|
| 750 |
|
|
|
| 751 |
|
|
/* A delay time of zero just forces a reschedule. */
|
| 752 |
|
|
if( xTicksToDelay > ( portTickType ) 0 )
|
| 753 |
|
|
{
|
| 754 |
|
|
vTaskSuspendAll();
|
| 755 |
|
|
{
|
| 756 |
|
|
/* A task that is removed from the event list while the
|
| 757 |
|
|
scheduler is suspended will not get placed in the ready
|
| 758 |
|
|
list or removed from the blocked list until the scheduler
|
| 759 |
|
|
is resumed.
|
| 760 |
|
|
|
| 761 |
|
|
This task cannot be in an event list as it is the currently
|
| 762 |
|
|
executing task. */
|
| 763 |
|
|
|
| 764 |
|
|
/* Calculate the time to wake - this may overflow but this is
|
| 765 |
|
|
not a problem. */
|
| 766 |
|
|
xTimeToWake = xTickCount + xTicksToDelay;
|
| 767 |
|
|
|
| 768 |
|
|
/* We must remove ourselves from the ready list before adding
|
| 769 |
|
|
ourselves to the blocked list as the same list item is used for
|
| 770 |
|
|
both lists. */
|
| 771 |
|
|
vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
|
| 772 |
|
|
|
| 773 |
|
|
/* The list item will be inserted in wake time order. */
|
| 774 |
|
|
listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
|
| 775 |
|
|
|
| 776 |
|
|
if( xTimeToWake < xTickCount )
|
| 777 |
|
|
{
|
| 778 |
|
|
/* Wake time has overflowed. Place this item in the
|
| 779 |
|
|
overflow list. */
|
| 780 |
|
|
vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
|
| 781 |
|
|
}
|
| 782 |
|
|
else
|
| 783 |
|
|
{
|
| 784 |
|
|
/* The wake time has not overflowed, so we can use the
|
| 785 |
|
|
current block list. */
|
| 786 |
|
|
vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
|
| 787 |
|
|
}
|
| 788 |
|
|
}
|
| 789 |
|
|
xAlreadyYielded = xTaskResumeAll();
|
| 790 |
|
|
}
|
| 791 |
|
|
|
| 792 |
|
|
/* Force a reschedule if xTaskResumeAll has not already done so, we may
|
| 793 |
|
|
have put ourselves to sleep. */
|
| 794 |
|
|
if( !xAlreadyYielded )
|
| 795 |
|
|
{
|
| 796 |
|
|
taskYIELD();
|
| 797 |
|
|
}
|
| 798 |
|
|
}
|
| 799 |
|
|
|
| 800 |
|
|
#endif
|
| 801 |
|
|
/*-----------------------------------------------------------*/
|
| 802 |
|
|
|
| 803 |
|
|
#if ( INCLUDE_uxTaskPriorityGet == 1 )
|
| 804 |
|
|
|
| 805 |
|
|
unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
|
| 806 |
|
|
{
|
| 807 |
|
|
tskTCB *pxTCB;
|
| 808 |
|
|
unsigned portBASE_TYPE uxReturn;
|
| 809 |
|
|
|
| 810 |
|
|
taskENTER_CRITICAL();
|
| 811 |
|
|
{
|
| 812 |
|
|
/* If null is passed in here then we are changing the
|
| 813 |
|
|
priority of the calling function. */
|
| 814 |
|
|
pxTCB = prvGetTCBFromHandle( pxTask );
|
| 815 |
|
|
uxReturn = pxTCB->uxPriority;
|
| 816 |
|
|
}
|
| 817 |
|
|
taskEXIT_CRITICAL();
|
| 818 |
|
|
|
| 819 |
|
|
return uxReturn;
|
| 820 |
|
|
}
|
| 821 |
|
|
|
| 822 |
|
|
#endif
|
| 823 |
|
|
/*-----------------------------------------------------------*/
|
| 824 |
|
|
|
| 825 |
|
|
#if ( INCLUDE_vTaskPrioritySet == 1 )
|
| 826 |
|
|
|
| 827 |
|
|
void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
|
| 828 |
|
|
{
|
| 829 |
|
|
tskTCB *pxTCB;
|
| 830 |
|
|
unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
|
| 831 |
|
|
|
| 832 |
|
|
/* Ensure the new priority is valid. */
|
| 833 |
|
|
if( uxNewPriority >= configMAX_PRIORITIES )
|
| 834 |
|
|
{
|
| 835 |
|
|
uxNewPriority = configMAX_PRIORITIES - 1;
|
| 836 |
|
|
}
|
| 837 |
|
|
|
| 838 |
|
|
taskENTER_CRITICAL();
|
| 839 |
|
|
{
|
| 840 |
|
|
/* If null is passed in here then we are changing the
|
| 841 |
|
|
priority of the calling function. */
|
| 842 |
|
|
pxTCB = prvGetTCBFromHandle( pxTask );
|
| 843 |
|
|
uxCurrentPriority = pxTCB->uxPriority;
|
| 844 |
|
|
|
| 845 |
|
|
if( uxCurrentPriority != uxNewPriority )
|
| 846 |
|
|
{
|
| 847 |
|
|
/* The priority change may have readied a task of higher
|
| 848 |
|
|
priority than the calling task. */
|
| 849 |
|
|
if( uxNewPriority > pxCurrentTCB->uxPriority )
|
| 850 |
|
|
{
|
| 851 |
|
|
if( pxTask != NULL )
|
| 852 |
|
|
{
|
| 853 |
|
|
/* The priority of another task is being raised. If we
|
| 854 |
|
|
were raising the priority of the currently running task
|
| 855 |
|
|
there would be no need to switch as it must have already
|
| 856 |
|
|
been the highest priority task. */
|
| 857 |
|
|
xYieldRequired = pdTRUE;
|
| 858 |
|
|
}
|
| 859 |
|
|
}
|
| 860 |
|
|
else if( pxTask == NULL )
|
| 861 |
|
|
{
|
| 862 |
|
|
/* Setting our own priority down means there may now be another
|
| 863 |
|
|
task of higher priority that is ready to execute. */
|
| 864 |
|
|
xYieldRequired = pdTRUE;
|
| 865 |
|
|
}
|
| 866 |
|
|
|
| 867 |
|
|
pxTCB->uxPriority = uxNewPriority;
|
| 868 |
|
|
listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxNewPriority );
|
| 869 |
|
|
|
| 870 |
|
|
/* If the task is in the blocked or suspended list we need do
|
| 871 |
|
|
nothing more than change it's priority variable. However, if
|
| 872 |
|
|
the task is in a ready list it needs to be removed and placed
|
| 873 |
|
|
in the queue appropriate to its new priority. */
|
| 874 |
|
|
if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
|
| 875 |
|
|
{
|
| 876 |
|
|
/* The task is currently in its ready list - remove before adding
|
| 877 |
|
|
it to it's new ready list. As we are in a critical section we
|
| 878 |
|
|
can do this even if the scheduler is suspended. */
|
| 879 |
|
|
vListRemove( &( pxTCB->xGenericListItem ) );
|
| 880 |
|
|
prvAddTaskToReadyQueue( pxTCB );
|
| 881 |
|
|
}
|
| 882 |
|
|
|
| 883 |
|
|
if( xYieldRequired == pdTRUE )
|
| 884 |
|
|
{
|
| 885 |
|
|
taskYIELD();
|
| 886 |
|
|
}
|
| 887 |
|
|
}
|
| 888 |
|
|
}
|
| 889 |
|
|
taskEXIT_CRITICAL();
|
| 890 |
|
|
}
|
| 891 |
|
|
|
| 892 |
|
|
#endif
|
| 893 |
|
|
/*-----------------------------------------------------------*/
|
| 894 |
|
|
|
| 895 |
|
|
#if ( INCLUDE_vTaskSuspend == 1 )
|
| 896 |
|
|
|
| 897 |
|
|
void vTaskSuspend( xTaskHandle pxTaskToSuspend )
|
| 898 |
|
|
{
|
| 899 |
|
|
tskTCB *pxTCB;
|
| 900 |
|
|
|
| 901 |
|
|
taskENTER_CRITICAL();
|
| 902 |
|
|
{
|
| 903 |
|
|
/* Ensure a yield is performed if the current task is being
|
| 904 |
|
|
suspended. */
|
| 905 |
|
|
if( pxTaskToSuspend == pxCurrentTCB )
|
| 906 |
|
|
{
|
| 907 |
|
|
pxTaskToSuspend = NULL;
|
| 908 |
|
|
}
|
| 909 |
|
|
|
| 910 |
|
|
/* If null is passed in here then we are suspending ourselves. */
|
| 911 |
|
|
pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
|
| 912 |
|
|
|
| 913 |
|
|
/* Remove task from the ready/delayed list and place in the suspended list. */
|
| 914 |
|
|
vListRemove( &( pxTCB->xGenericListItem ) );
|
| 915 |
|
|
|
| 916 |
|
|
/* Is the task waiting on an event also? */
|
| 917 |
|
|
if( pxTCB->xEventListItem.pvContainer )
|
| 918 |
|
|
{
|
| 919 |
|
|
vListRemove( &( pxTCB->xEventListItem ) );
|
| 920 |
|
|
}
|
| 921 |
|
|
|
| 922 |
|
|
vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
|
| 923 |
|
|
}
|
| 924 |
|
|
taskEXIT_CRITICAL();
|
| 925 |
|
|
|
| 926 |
|
|
/* We may have just suspended the current task. */
|
| 927 |
|
|
if( ( void * ) pxTaskToSuspend == NULL )
|
| 928 |
|
|
{
|
| 929 |
|
|
taskYIELD();
|
| 930 |
|
|
}
|
| 931 |
|
|
}
|
| 932 |
|
|
|
| 933 |
|
|
#endif
|
| 934 |
|
|
/*-----------------------------------------------------------*/
|
| 935 |
|
|
|
| 936 |
|
|
#if ( INCLUDE_vTaskSuspend == 1 )
|
| 937 |
|
|
|
| 938 |
|
|
void vTaskResume( xTaskHandle pxTaskToResume )
|
| 939 |
|
|
{
|
| 940 |
|
|
tskTCB *pxTCB;
|
| 941 |
|
|
|
| 942 |
|
|
/* Remove the task from whichever list it is currently in, and place
|
| 943 |
|
|
it in the ready list. */
|
| 944 |
|
|
pxTCB = ( tskTCB * ) pxTaskToResume;
|
| 945 |
|
|
|
| 946 |
|
|
/* The parameter cannot be NULL as it is impossible to resume the
|
| 947 |
|
|
currently executing task. */
|
| 948 |
|
|
if( pxTCB != NULL )
|
| 949 |
|
|
{
|
| 950 |
|
|
taskENTER_CRITICAL();
|
| 951 |
|
|
{
|
| 952 |
|
|
/* Is the task we are attempting to resume actually suspended? */
|
| 953 |
|
|
if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
|
| 954 |
|
|
{
|
| 955 |
|
|
/* Has the task already been resumed from within an ISR? */
|
| 956 |
|
|
if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
|
| 957 |
|
|
{
|
| 958 |
|
|
/* As we are in a critical section we can access the ready
|
| 959 |
|
|
lists even if the scheduler is suspended. */
|
| 960 |
|
|
vListRemove( &( pxTCB->xGenericListItem ) );
|
| 961 |
|
|
prvAddTaskToReadyQueue( pxTCB );
|
| 962 |
|
|
|
| 963 |
|
|
/* We may have just resumed a higher priority task. */
|
| 964 |
|
|
if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
|
| 965 |
|
|
{
|
| 966 |
|
|
/* This yield may not cause the task just resumed to run, but
|
| 967 |
|
|
will leave the lists in the correct state for the next yield. */
|
| 968 |
|
|
taskYIELD();
|
| 969 |
|
|
}
|
| 970 |
|
|
}
|
| 971 |
|
|
}
|
| 972 |
|
|
}
|
| 973 |
|
|
taskEXIT_CRITICAL();
|
| 974 |
|
|
}
|
| 975 |
|
|
}
|
| 976 |
|
|
|
| 977 |
|
|
#endif
|
| 978 |
|
|
|
| 979 |
|
|
/*-----------------------------------------------------------*/
|
| 980 |
|
|
|
| 981 |
|
|
#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
|
| 982 |
|
|
|
| 983 |
|
|
portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
|
| 984 |
|
|
{
|
| 985 |
|
|
portBASE_TYPE xYieldRequired = pdFALSE;
|
| 986 |
|
|
tskTCB *pxTCB;
|
| 987 |
|
|
|
| 988 |
|
|
pxTCB = ( tskTCB * ) pxTaskToResume;
|
| 989 |
|
|
|
| 990 |
|
|
/* Is the task we are attempting to resume actually suspended? */
|
| 991 |
|
|
if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
|
| 992 |
|
|
{
|
| 993 |
|
|
/* Has the task already been resumed from within an ISR? */
|
| 994 |
|
|
if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
|
| 995 |
|
|
{
|
| 996 |
|
|
if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
|
| 997 |
|
|
{
|
| 998 |
|
|
xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
|
| 999 |
|
|
vListRemove( &( pxTCB->xGenericListItem ) );
|
| 1000 |
|
|
prvAddTaskToReadyQueue( pxTCB );
|
| 1001 |
|
|
}
|
| 1002 |
|
|
else
|
| 1003 |
|
|
{
|
| 1004 |
|
|
/* We cannot access the delayed or ready lists, so will hold this
|
| 1005 |
|
|
task pending until the scheduler is resumed, at which point a
|
| 1006 |
|
|
yield will be preformed if necessary. */
|
| 1007 |
|
|
vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
|
| 1008 |
|
|
}
|
| 1009 |
|
|
}
|
| 1010 |
|
|
}
|
| 1011 |
|
|
|
| 1012 |
|
|
return xYieldRequired;
|
| 1013 |
|
|
}
|
| 1014 |
|
|
|
| 1015 |
|
|
#endif
|
| 1016 |
|
|
|
| 1017 |
|
|
|
| 1018 |
|
|
|
| 1019 |
|
|
|
| 1020 |
|
|
/*-----------------------------------------------------------
|
| 1021 |
|
|
* PUBLIC SCHEDULER CONTROL documented in task.h
|
| 1022 |
|
|
*----------------------------------------------------------*/
|
| 1023 |
|
|
|
| 1024 |
|
|
|
| 1025 |
|
|
void vTaskStartScheduler( void )
|
| 1026 |
|
|
{
|
| 1027 |
|
|
portBASE_TYPE xReturn;
|
| 1028 |
|
|
|
| 1029 |
|
|
/* Add the idle task at the lowest priority. */
|
| 1030 |
|
|
xReturn = xTaskCreate( prvIdleTask, ( signed portCHAR * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
|
| 1031 |
|
|
|
| 1032 |
|
|
if( xReturn == pdPASS )
|
| 1033 |
|
|
{
|
| 1034 |
|
|
/* Interrupts are turned off here, to ensure a tick does not occur
|
| 1035 |
|
|
before or during the call to xPortStartScheduler(). The stacks of
|
| 1036 |
|
|
the created tasks contain a status word with interrupts switched on
|
| 1037 |
|
|
so interrupts will automatically get re-enabled when the first task
|
| 1038 |
|
|
starts to run.
|
| 1039 |
|
|
|
| 1040 |
|
|
STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
|
| 1041 |
|
|
DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
|
| 1042 |
|
|
portDISABLE_INTERRUPTS();
|
| 1043 |
|
|
|
| 1044 |
|
|
xSchedulerRunning = pdTRUE;
|
| 1045 |
|
|
xTickCount = ( portTickType ) 0;
|
| 1046 |
|
|
|
| 1047 |
|
|
/* Setting up the timer tick is hardware specific and thus in the
|
| 1048 |
|
|
portable interface. */
|
| 1049 |
|
|
if( xPortStartScheduler() )
|
| 1050 |
|
|
{
|
| 1051 |
|
|
/* Should not reach here as if the scheduler is running the
|
| 1052 |
|
|
function will not return. */
|
| 1053 |
|
|
}
|
| 1054 |
|
|
else
|
| 1055 |
|
|
{
|
| 1056 |
|
|
/* Should only reach here if a task calls xTaskEndScheduler(). */
|
| 1057 |
|
|
}
|
| 1058 |
|
|
}
|
| 1059 |
|
|
}
|
| 1060 |
|
|
/*-----------------------------------------------------------*/
|
| 1061 |
|
|
|
| 1062 |
|
|
void vTaskEndScheduler( void )
|
| 1063 |
|
|
{
|
| 1064 |
|
|
/* Stop the scheduler interrupts and call the portable scheduler end
|
| 1065 |
|
|
routine so the original ISRs can be restored if necessary. The port
|
| 1066 |
|
|
layer must ensure interrupts enable bit is left in the correct state. */
|
| 1067 |
|
|
portDISABLE_INTERRUPTS();
|
| 1068 |
|
|
xSchedulerRunning = pdFALSE;
|
| 1069 |
|
|
vPortEndScheduler();
|
| 1070 |
|
|
}
|
| 1071 |
|
|
/*----------------------------------------------------------*/
|
| 1072 |
|
|
|
| 1073 |
|
|
void vTaskSuspendAll( void )
|
| 1074 |
|
|
{
|
| 1075 |
|
|
portENTER_CRITICAL();
|
| 1076 |
|
|
++uxSchedulerSuspended;
|
| 1077 |
|
|
portEXIT_CRITICAL();
|
| 1078 |
|
|
}
|
| 1079 |
|
|
/*----------------------------------------------------------*/
|
| 1080 |
|
|
|
| 1081 |
|
|
signed portBASE_TYPE xTaskResumeAll( void )
|
| 1082 |
|
|
{
|
| 1083 |
|
|
register tskTCB *pxTCB;
|
| 1084 |
|
|
signed portBASE_TYPE xAlreadyYielded = pdFALSE;
|
| 1085 |
|
|
|
| 1086 |
|
|
/* It is possible that an ISR caused a task to be removed from an event
|
| 1087 |
|
|
list while the scheduler was suspended. If this was the case then the
|
| 1088 |
|
|
removed task will have been added to the xPendingReadyList. Once the
|
| 1089 |
|
|
scheduler has been resumed it is safe to move all the pending ready
|
| 1090 |
|
|
tasks from this list into their appropriate ready list. */
|
| 1091 |
|
|
portENTER_CRITICAL();
|
| 1092 |
|
|
{
|
| 1093 |
|
|
--uxSchedulerSuspended;
|
| 1094 |
|
|
|
| 1095 |
|
|
if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
|
| 1096 |
|
|
{
|
| 1097 |
|
|
if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
|
| 1098 |
|
|
{
|
| 1099 |
|
|
portBASE_TYPE xYieldRequired = pdFALSE;
|
| 1100 |
|
|
|
| 1101 |
|
|
/* Move any readied tasks from the pending list into the
|
| 1102 |
|
|
appropriate ready list. */
|
| 1103 |
|
|
while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL )
|
| 1104 |
|
|
{
|
| 1105 |
|
|
vListRemove( &( pxTCB->xEventListItem ) );
|
| 1106 |
|
|
vListRemove( &( pxTCB->xGenericListItem ) );
|
| 1107 |
|
|
prvAddTaskToReadyQueue( pxTCB );
|
| 1108 |
|
|
|
| 1109 |
|
|
/* If we have moved a task that has a priority higher than
|
| 1110 |
|
|
the current task then we should yield. */
|
| 1111 |
|
|
if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
|
| 1112 |
|
|
{
|
| 1113 |
|
|
xYieldRequired = pdTRUE;
|
| 1114 |
|
|
}
|
| 1115 |
|
|
}
|
| 1116 |
|
|
|
| 1117 |
|
|
/* If any ticks occurred while the scheduler was suspended then
|
| 1118 |
|
|
they should be processed now. This ensures the tick count does not
|
| 1119 |
|
|
slip, and that any delayed tasks are resumed at the correct time. */
|
| 1120 |
|
|
if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
|
| 1121 |
|
|
{
|
| 1122 |
|
|
while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
|
| 1123 |
|
|
{
|
| 1124 |
|
|
vTaskIncrementTick();
|
| 1125 |
|
|
--uxMissedTicks;
|
| 1126 |
|
|
}
|
| 1127 |
|
|
|
| 1128 |
|
|
/* As we have processed some ticks it is appropriate to yield
|
| 1129 |
|
|
to ensure the highest priority task that is ready to run is
|
| 1130 |
|
|
the task actually running. */
|
| 1131 |
|
|
xYieldRequired = pdTRUE;
|
| 1132 |
|
|
}
|
| 1133 |
|
|
|
| 1134 |
|
|
if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
|
| 1135 |
|
|
{
|
| 1136 |
|
|
xAlreadyYielded = pdTRUE;
|
| 1137 |
|
|
xMissedYield = pdFALSE;
|
| 1138 |
|
|
taskYIELD();
|
| 1139 |
|
|
}
|
| 1140 |
|
|
}
|
| 1141 |
|
|
}
|
| 1142 |
|
|
}
|
| 1143 |
|
|
portEXIT_CRITICAL();
|
| 1144 |
|
|
|
| 1145 |
|
|
return xAlreadyYielded;
|
| 1146 |
|
|
}
|
| 1147 |
|
|
|
| 1148 |
|
|
|
| 1149 |
|
|
|
| 1150 |
|
|
|
| 1151 |
|
|
|
| 1152 |
|
|
|
| 1153 |
|
|
/*-----------------------------------------------------------
|
| 1154 |
|
|
* PUBLIC TASK UTILITIES documented in task.h
|
| 1155 |
|
|
*----------------------------------------------------------*/
|
| 1156 |
|
|
|
| 1157 |
|
|
|
| 1158 |
|
|
|
| 1159 |
|
|
portTickType xTaskGetTickCount( void )
|
| 1160 |
|
|
{
|
| 1161 |
|
|
portTickType xTicks;
|
| 1162 |
|
|
|
| 1163 |
|
|
/* Critical section required if running on a 16 bit processor. */
|
| 1164 |
|
|
taskENTER_CRITICAL();
|
| 1165 |
|
|
{
|
| 1166 |
|
|
xTicks = xTickCount;
|
| 1167 |
|
|
}
|
| 1168 |
|
|
taskEXIT_CRITICAL();
|
| 1169 |
|
|
|
| 1170 |
|
|
return xTicks;
|
| 1171 |
|
|
}
|
| 1172 |
|
|
/*-----------------------------------------------------------*/
|
| 1173 |
|
|
|
| 1174 |
|
|
unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
|
| 1175 |
|
|
{
|
| 1176 |
|
|
unsigned portBASE_TYPE uxNumberOfTasks;
|
| 1177 |
|
|
|
| 1178 |
|
|
taskENTER_CRITICAL();
|
| 1179 |
|
|
uxNumberOfTasks = uxCurrentNumberOfTasks;
|
| 1180 |
|
|
taskEXIT_CRITICAL();
|
| 1181 |
|
|
|
| 1182 |
|
|
return uxNumberOfTasks;
|
| 1183 |
|
|
}
|
| 1184 |
|
|
/*-----------------------------------------------------------*/
|
| 1185 |
|
|
|
| 1186 |
|
|
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_vTaskDelete == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
|
| 1187 |
|
|
|
| 1188 |
|
|
void vTaskList( signed portCHAR *pcWriteBuffer )
|
| 1189 |
|
|
{
|
| 1190 |
|
|
unsigned portBASE_TYPE uxQueue;
|
| 1191 |
|
|
|
| 1192 |
|
|
/* This is a VERY costly function that should be used for debug only.
|
| 1193 |
|
|
It leaves interrupts disabled for a LONG time. */
|
| 1194 |
|
|
|
| 1195 |
|
|
vTaskSuspendAll();
|
| 1196 |
|
|
{
|
| 1197 |
|
|
/* Run through all the lists that could potentially contain a TCB and
|
| 1198 |
|
|
report the task name, state and stack high water mark. */
|
| 1199 |
|
|
|
| 1200 |
|
|
pcWriteBuffer[ 0 ] = ( signed portCHAR ) 0x00;
|
| 1201 |
|
|
strcat( ( portCHAR * ) pcWriteBuffer, ( const portCHAR * ) "\r\n" );
|
| 1202 |
|
|
|
| 1203 |
|
|
uxQueue = uxTopUsedPriority + 1;
|
| 1204 |
|
|
|
| 1205 |
|
|
do
|
| 1206 |
|
|
{
|
| 1207 |
|
|
uxQueue--;
|
| 1208 |
|
|
|
| 1209 |
|
|
if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
|
| 1210 |
|
|
{
|
| 1211 |
|
|
prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
|
| 1212 |
|
|
}
|
| 1213 |
|
|
}while( uxQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
|
| 1214 |
|
|
|
| 1215 |
|
|
if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
|
| 1216 |
|
|
{
|
| 1217 |
|
|
prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
|
| 1218 |
|
|
}
|
| 1219 |
|
|
|
| 1220 |
|
|
if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
|
| 1221 |
|
|
{
|
| 1222 |
|
|
prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
|
| 1223 |
|
|
}
|
| 1224 |
|
|
|
| 1225 |
|
|
if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
|
| 1226 |
|
|
{
|
| 1227 |
|
|
prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
|
| 1228 |
|
|
}
|
| 1229 |
|
|
|
| 1230 |
|
|
if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
|
| 1231 |
|
|
{
|
| 1232 |
|
|
prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
|
| 1233 |
|
|
}
|
| 1234 |
|
|
}
|
| 1235 |
|
|
xTaskResumeAll();
|
| 1236 |
|
|
}
|
| 1237 |
|
|
|
| 1238 |
|
|
#endif
|
| 1239 |
|
|
/*----------------------------------------------------------*/
|
| 1240 |
|
|
|
| 1241 |
|
|
#if ( configUSE_TRACE_FACILITY == 1 )
|
| 1242 |
|
|
|
| 1243 |
|
|
void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize )
|
| 1244 |
|
|
{
|
| 1245 |
|
|
portENTER_CRITICAL();
|
| 1246 |
|
|
{
|
| 1247 |
|
|
pcTraceBuffer = ( volatile signed portCHAR * volatile )pcBuffer;
|
| 1248 |
|
|
pcTraceBufferStart = pcBuffer;
|
| 1249 |
|
|
pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
|
| 1250 |
|
|
xTracing = pdTRUE;
|
| 1251 |
|
|
}
|
| 1252 |
|
|
portEXIT_CRITICAL();
|
| 1253 |
|
|
}
|
| 1254 |
|
|
|
| 1255 |
|
|
#endif
|
| 1256 |
|
|
/*----------------------------------------------------------*/
|
| 1257 |
|
|
|
| 1258 |
|
|
#if ( configUSE_TRACE_FACILITY == 1 )
|
| 1259 |
|
|
|
| 1260 |
|
|
unsigned portLONG ulTaskEndTrace( void )
|
| 1261 |
|
|
{
|
| 1262 |
|
|
unsigned portLONG ulBufferLength;
|
| 1263 |
|
|
|
| 1264 |
|
|
portENTER_CRITICAL();
|
| 1265 |
|
|
xTracing = pdFALSE;
|
| 1266 |
|
|
portEXIT_CRITICAL();
|
| 1267 |
|
|
|
| 1268 |
|
|
ulBufferLength = ( unsigned portLONG ) ( pcTraceBuffer - pcTraceBufferStart );
|
| 1269 |
|
|
|
| 1270 |
|
|
return ulBufferLength;
|
| 1271 |
|
|
}
|
| 1272 |
|
|
|
| 1273 |
|
|
#endif
|
| 1274 |
|
|
|
| 1275 |
|
|
|
| 1276 |
|
|
|
| 1277 |
|
|
/*-----------------------------------------------------------
|
| 1278 |
|
|
* SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
|
| 1279 |
|
|
* documented in task.h
|
| 1280 |
|
|
*----------------------------------------------------------*/
|
| 1281 |
|
|
|
| 1282 |
|
|
|
| 1283 |
|
|
inline void vTaskIncrementTick( void )
|
| 1284 |
|
|
{
|
| 1285 |
|
|
/* Called by the portable layer each time a tick interrupt occurs.
|
| 1286 |
|
|
Increments the tick then checks to see if the new tick value will cause any
|
| 1287 |
|
|
tasks to be unblocked. */
|
| 1288 |
|
|
if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
|
| 1289 |
|
|
{
|
| 1290 |
|
|
++xTickCount;
|
| 1291 |
|
|
if( xTickCount == ( portTickType ) 0 )
|
| 1292 |
|
|
{
|
| 1293 |
|
|
xList *pxTemp;
|
| 1294 |
|
|
|
| 1295 |
|
|
/* Tick count has overflowed so we need to swap the delay lists.
|
| 1296 |
|
|
If there are any items in pxDelayedTaskList here then there is
|
| 1297 |
|
|
an error! */
|
| 1298 |
|
|
pxTemp = pxDelayedTaskList;
|
| 1299 |
|
|
pxDelayedTaskList = pxOverflowDelayedTaskList;
|
| 1300 |
|
|
pxOverflowDelayedTaskList = pxTemp;
|
| 1301 |
|
|
xNumOfOverflows++;
|
| 1302 |
|
|
}
|
| 1303 |
|
|
|
| 1304 |
|
|
/* See if this tick has made a timeout expire. */
|
| 1305 |
|
|
prvCheckDelayedTasks();
|
| 1306 |
|
|
}
|
| 1307 |
|
|
else
|
| 1308 |
|
|
{
|
| 1309 |
|
|
++uxMissedTicks;
|
| 1310 |
|
|
|
| 1311 |
|
|
/* The tick hook gets called at regular intervals, even if the
|
| 1312 |
|
|
scheduler is locked. */
|
| 1313 |
|
|
#if ( configUSE_TICK_HOOK == 1 )
|
| 1314 |
|
|
{
|
| 1315 |
|
|
extern void vApplicationTickHook( void );
|
| 1316 |
|
|
|
| 1317 |
|
|
vApplicationTickHook();
|
| 1318 |
|
|
}
|
| 1319 |
|
|
#endif
|
| 1320 |
|
|
}
|
| 1321 |
|
|
|
| 1322 |
|
|
#if ( configUSE_TICK_HOOK == 1 )
|
| 1323 |
|
|
{
|
| 1324 |
|
|
extern void vApplicationTickHook( void );
|
| 1325 |
|
|
|
| 1326 |
|
|
/* Guard against the tick hook being called when the missed tick
|
| 1327 |
|
|
count is being unwound (when the scheduler is being unlocked. */
|
| 1328 |
|
|
if( uxMissedTicks == 0 )
|
| 1329 |
|
|
{
|
| 1330 |
|
|
vApplicationTickHook();
|
| 1331 |
|
|
}
|
| 1332 |
|
|
}
|
| 1333 |
|
|
#endif
|
| 1334 |
|
|
}
|
| 1335 |
|
|
/*-----------------------------------------------------------*/
|
| 1336 |
|
|
|
| 1337 |
|
|
#if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
|
| 1338 |
|
|
|
| 1339 |
|
|
void vTaskCleanUpResources( void )
|
| 1340 |
|
|
{
|
| 1341 |
|
|
unsigned portSHORT usQueue;
|
| 1342 |
|
|
volatile tskTCB *pxTCB;
|
| 1343 |
|
|
|
| 1344 |
|
|
usQueue = ( unsigned portSHORT ) uxTopUsedPriority + ( unsigned portSHORT ) 1;
|
| 1345 |
|
|
|
| 1346 |
|
|
/* Remove any TCB's from the ready queues. */
|
| 1347 |
|
|
do
|
| 1348 |
|
|
{
|
| 1349 |
|
|
usQueue--;
|
| 1350 |
|
|
|
| 1351 |
|
|
while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
|
| 1352 |
|
|
{
|
| 1353 |
|
|
listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
|
| 1354 |
|
|
vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
|
| 1355 |
|
|
|
| 1356 |
|
|
prvDeleteTCB( ( tskTCB * ) pxTCB );
|
| 1357 |
|
|
}
|
| 1358 |
|
|
}while( usQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY );
|
| 1359 |
|
|
|
| 1360 |
|
|
/* Remove any TCB's from the delayed queue. */
|
| 1361 |
|
|
while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
|
| 1362 |
|
|
{
|
| 1363 |
|
|
listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
|
| 1364 |
|
|
vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
|
| 1365 |
|
|
|
| 1366 |
|
|
prvDeleteTCB( ( tskTCB * ) pxTCB );
|
| 1367 |
|
|
}
|
| 1368 |
|
|
|
| 1369 |
|
|
/* Remove any TCB's from the overflow delayed queue. */
|
| 1370 |
|
|
while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
|
| 1371 |
|
|
{
|
| 1372 |
|
|
listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
|
| 1373 |
|
|
vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
|
| 1374 |
|
|
|
| 1375 |
|
|
prvDeleteTCB( ( tskTCB * ) pxTCB );
|
| 1376 |
|
|
}
|
| 1377 |
|
|
|
| 1378 |
|
|
while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
|
| 1379 |
|
|
{
|
| 1380 |
|
|
listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
|
| 1381 |
|
|
vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
|
| 1382 |
|
|
|
| 1383 |
|
|
prvDeleteTCB( ( tskTCB * ) pxTCB );
|
| 1384 |
|
|
}
|
| 1385 |
|
|
|
| 1386 |
|
|
while( !listLIST_IS_EMPTY( &xPendingReadyList ) )
|
| 1387 |
|
|
{
|
| 1388 |
|
|
listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xPendingReadyList );
|
| 1389 |
|
|
vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
|
| 1390 |
|
|
|
| 1391 |
|
|
prvDeleteTCB( ( tskTCB * ) pxTCB );
|
| 1392 |
|
|
}
|
| 1393 |
|
|
}
|
| 1394 |
|
|
|
| 1395 |
|
|
#endif
|
| 1396 |
|
|
/*-----------------------------------------------------------*/
|
| 1397 |
|
|
|
| 1398 |
|
|
void vTaskSwitchContext( void )
|
| 1399 |
|
|
{
|
| 1400 |
|
|
if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
|
| 1401 |
|
|
{
|
| 1402 |
|
|
/* The scheduler is currently suspended - do not allow a context
|
| 1403 |
|
|
switch. */
|
| 1404 |
|
|
xMissedYield = pdTRUE;
|
| 1405 |
|
|
return;
|
| 1406 |
|
|
}
|
| 1407 |
|
|
|
| 1408 |
|
|
/* Find the highest priority queue that contains ready tasks. */
|
| 1409 |
|
|
while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
|
| 1410 |
|
|
{
|
| 1411 |
|
|
--uxTopReadyPriority;
|
| 1412 |
|
|
}
|
| 1413 |
|
|
|
| 1414 |
|
|
/* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
|
| 1415 |
|
|
same priority get an equal share of the processor time. */
|
| 1416 |
|
|
listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
|
| 1417 |
|
|
vWriteTraceToBuffer();
|
| 1418 |
|
|
}
|
| 1419 |
|
|
/*-----------------------------------------------------------*/
|
| 1420 |
|
|
|
| 1421 |
|
|
void vTaskPlaceOnEventList( xList *pxEventList, portTickType xTicksToWait )
|
| 1422 |
|
|
{
|
| 1423 |
|
|
portTickType xTimeToWake;
|
| 1424 |
|
|
|
| 1425 |
|
|
/* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
|
| 1426 |
|
|
SCHEDULER SUSPENDED. */
|
| 1427 |
|
|
|
| 1428 |
|
|
/* Place the event list item of the TCB in the appropriate event list.
|
| 1429 |
|
|
This is placed in the list in priority order so the highest priority task
|
| 1430 |
|
|
is the first to be woken by the event. */
|
| 1431 |
|
|
vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
|
| 1432 |
|
|
|
| 1433 |
|
|
/* We must remove ourselves from the ready list before adding ourselves
|
| 1434 |
|
|
to the blocked list as the same list item is used for both lists. We have
|
| 1435 |
|
|
exclusive access to the ready lists as the scheduler is locked. */
|
| 1436 |
|
|
vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
|
| 1437 |
|
|
|
| 1438 |
|
|
|
| 1439 |
|
|
#if ( INCLUDE_vTaskSuspend == 1 )
|
| 1440 |
|
|
{
|
| 1441 |
|
|
if( xTicksToWait == portMAX_DELAY )
|
| 1442 |
|
|
{
|
| 1443 |
|
|
/* Add ourselves to the suspended task list instead of a delayed task
|
| 1444 |
|
|
list to ensure we are not woken by a timing event. We will block
|
| 1445 |
|
|
indefinitely. */
|
| 1446 |
|
|
vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
|
| 1447 |
|
|
}
|
| 1448 |
|
|
else
|
| 1449 |
|
|
{
|
| 1450 |
|
|
/* Calculate the time at which the task should be woken if the event does
|
| 1451 |
|
|
not occur. This may overflow but this doesn't matter. */
|
| 1452 |
|
|
xTimeToWake = xTickCount + xTicksToWait;
|
| 1453 |
|
|
|
| 1454 |
|
|
listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
|
| 1455 |
|
|
|
| 1456 |
|
|
if( xTimeToWake < xTickCount )
|
| 1457 |
|
|
{
|
| 1458 |
|
|
/* Wake time has overflowed. Place this item in the overflow list. */
|
| 1459 |
|
|
vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
|
| 1460 |
|
|
}
|
| 1461 |
|
|
else
|
| 1462 |
|
|
{
|
| 1463 |
|
|
/* The wake time has not overflowed, so we can use the current block list. */
|
| 1464 |
|
|
vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
|
| 1465 |
|
|
}
|
| 1466 |
|
|
}
|
| 1467 |
|
|
}
|
| 1468 |
|
|
#else
|
| 1469 |
|
|
{
|
| 1470 |
|
|
/* Calculate the time at which the task should be woken if the event does
|
| 1471 |
|
|
not occur. This may overflow but this doesn't matter. */
|
| 1472 |
|
|
xTimeToWake = xTickCount + xTicksToWait;
|
| 1473 |
|
|
|
| 1474 |
|
|
listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
|
| 1475 |
|
|
|
| 1476 |
|
|
if( xTimeToWake < xTickCount )
|
| 1477 |
|
|
{
|
| 1478 |
|
|
/* Wake time has overflowed. Place this item in the overflow list. */
|
| 1479 |
|
|
vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
|
| 1480 |
|
|
}
|
| 1481 |
|
|
else
|
| 1482 |
|
|
{
|
| 1483 |
|
|
/* The wake time has not overflowed, so we can use the current block list. */
|
| 1484 |
|
|
vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
|
| 1485 |
|
|
}
|
| 1486 |
|
|
}
|
| 1487 |
|
|
#endif
|
| 1488 |
|
|
}
|
| 1489 |
|
|
/*-----------------------------------------------------------*/
|
| 1490 |
|
|
|
| 1491 |
|
|
signed portBASE_TYPE xTaskRemoveFromEventList( const xList *pxEventList )
|
| 1492 |
|
|
{
|
| 1493 |
|
|
tskTCB *pxUnblockedTCB;
|
| 1494 |
|
|
portBASE_TYPE xReturn;
|
| 1495 |
|
|
|
| 1496 |
|
|
/* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
|
| 1497 |
|
|
SCHEDULER SUSPENDED. It can also be called from within an ISR. */
|
| 1498 |
|
|
|
| 1499 |
|
|
/* The event list is sorted in priority order, so we can remove the
|
| 1500 |
|
|
first in the list, remove the TCB from the delayed list, and add
|
| 1501 |
|
|
it to the ready list.
|
| 1502 |
|
|
|
| 1503 |
|
|
If an event is for a queue that is locked then this function will never
|
| 1504 |
|
|
get called - the lock count on the queue will get modified instead. This
|
| 1505 |
|
|
means we can always expect exclusive access to the event list here. */
|
| 1506 |
|
|
pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
|
| 1507 |
|
|
vListRemove( &( pxUnblockedTCB->xEventListItem ) );
|
| 1508 |
|
|
|
| 1509 |
|
|
if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
|
| 1510 |
|
|
{
|
| 1511 |
|
|
vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
|
| 1512 |
|
|
prvAddTaskToReadyQueue( pxUnblockedTCB );
|
| 1513 |
|
|
}
|
| 1514 |
|
|
else
|
| 1515 |
|
|
{
|
| 1516 |
|
|
/* We cannot access the delayed or ready lists, so will hold this
|
| 1517 |
|
|
task pending until the scheduler is resumed. */
|
| 1518 |
|
|
vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
|
| 1519 |
|
|
}
|
| 1520 |
|
|
|
| 1521 |
|
|
if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
|
| 1522 |
|
|
{
|
| 1523 |
|
|
/* Return true if the task removed from the event list has
|
| 1524 |
|
|
a higher priority than the calling task. This allows
|
| 1525 |
|
|
the calling task to know if it should force a context
|
| 1526 |
|
|
switch now. */
|
| 1527 |
|
|
xReturn = pdTRUE;
|
| 1528 |
|
|
}
|
| 1529 |
|
|
else
|
| 1530 |
|
|
{
|
| 1531 |
|
|
xReturn = pdFALSE;
|
| 1532 |
|
|
}
|
| 1533 |
|
|
|
| 1534 |
|
|
return xReturn;
|
| 1535 |
|
|
}
|
| 1536 |
|
|
/*-----------------------------------------------------------*/
|
| 1537 |
|
|
|
| 1538 |
|
|
void vTaskSetTimeOutState( xTimeOutType *pxTimeOut )
|
| 1539 |
|
|
{
|
| 1540 |
|
|
pxTimeOut->xOverflowCount = xNumOfOverflows;
|
| 1541 |
|
|
pxTimeOut->xTimeOnEntering = xTickCount;
|
| 1542 |
|
|
}
|
| 1543 |
|
|
/*-----------------------------------------------------------*/
|
| 1544 |
|
|
|
| 1545 |
|
|
portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType *pxTimeOut, portTickType *pxTicksToWait )
|
| 1546 |
|
|
{
|
| 1547 |
|
|
portBASE_TYPE xReturn;
|
| 1548 |
|
|
|
| 1549 |
|
|
if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xTickCount >= pxTimeOut->xTimeOnEntering ) )
|
| 1550 |
|
|
{
|
| 1551 |
|
|
/* The tick count is greater than the time at which vTaskSetTimeout()
|
| 1552 |
|
|
was called, but has also overflowed since vTaskSetTimeOut() was called.
|
| 1553 |
|
|
It must have wrapped all the way around and gone past us again. This
|
| 1554 |
|
|
passed since vTaskSetTimeout() was called. */
|
| 1555 |
|
|
xReturn = pdTRUE;
|
| 1556 |
|
|
}
|
| 1557 |
|
|
else if( ( xTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
|
| 1558 |
|
|
{
|
| 1559 |
|
|
/* Not a genuine timeout. Adjust parameters for time remaining. */
|
| 1560 |
|
|
*pxTicksToWait -= ( xTickCount - pxTimeOut->xTimeOnEntering );
|
| 1561 |
|
|
vTaskSetTimeOutState( pxTimeOut );
|
| 1562 |
|
|
xReturn = pdFALSE;
|
| 1563 |
|
|
}
|
| 1564 |
|
|
else
|
| 1565 |
|
|
{
|
| 1566 |
|
|
xReturn = pdTRUE;
|
| 1567 |
|
|
}
|
| 1568 |
|
|
|
| 1569 |
|
|
return xReturn;
|
| 1570 |
|
|
}
|
| 1571 |
|
|
/*-----------------------------------------------------------*/
|
| 1572 |
|
|
|
| 1573 |
|
|
void vTaskMissedYield( void )
|
| 1574 |
|
|
{
|
| 1575 |
|
|
xMissedYield = pdTRUE;
|
| 1576 |
|
|
}
|
| 1577 |
|
|
|
| 1578 |
|
|
/*
|
| 1579 |
|
|
* -----------------------------------------------------------
|
| 1580 |
|
|
* The Idle task.
|
| 1581 |
|
|
* ----------------------------------------------------------
|
| 1582 |
|
|
*
|
| 1583 |
|
|
* The portTASK_FUNCTION() macro is used to allow port/compiler specific
|
| 1584 |
|
|
* language extensions. The equivalent prototype for this function is:
|
| 1585 |
|
|
*
|
| 1586 |
|
|
* void prvIdleTask( void *pvParameters );
|
| 1587 |
|
|
*
|
| 1588 |
|
|
*/
|
| 1589 |
|
|
static portTASK_FUNCTION( prvIdleTask, pvParameters )
|
| 1590 |
|
|
{
|
| 1591 |
|
|
/* Stop warnings. */
|
| 1592 |
|
|
( void ) pvParameters;
|
| 1593 |
|
|
|
| 1594 |
|
|
for( ;; )
|
| 1595 |
|
|
{
|
| 1596 |
|
|
/* See if any tasks have been deleted. */
|
| 1597 |
|
|
prvCheckTasksWaitingTermination();
|
| 1598 |
|
|
|
| 1599 |
|
|
#if ( configUSE_PREEMPTION == 0 )
|
| 1600 |
|
|
{
|
| 1601 |
|
|
/* If we are not using preemption we keep forcing a task switch to
|
| 1602 |
|
|
see if any other task has become available. If we are using
|
| 1603 |
|
|
preemption we don't need to do this as any task becoming available
|
| 1604 |
|
|
will automatically get the processor anyway. */
|
| 1605 |
|
|
taskYIELD();
|
| 1606 |
|
|
}
|
| 1607 |
|
|
#endif
|
| 1608 |
|
|
|
| 1609 |
|
|
#if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
|
| 1610 |
|
|
{
|
| 1611 |
|
|
/* When using preemption tasks of equal priority will be
|
| 1612 |
|
|
timesliced. If a task that is sharing the idle priority is ready
|
| 1613 |
|
|
to run then the idle task should yield before the end of the
|
| 1614 |
|
|
timeslice.
|
| 1615 |
|
|
|
| 1616 |
|
|
A critical region is not required here as we are just reading from
|
| 1617 |
|
|
the list, and an occasional incorrect value will not matter. If
|
| 1618 |
|
|
the ready list at the idle priority contains more than one task
|
| 1619 |
|
|
then a task other than the idle task is ready to execute. */
|
| 1620 |
|
|
if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
|
| 1621 |
|
|
{
|
| 1622 |
|
|
taskYIELD();
|
| 1623 |
|
|
}
|
| 1624 |
|
|
}
|
| 1625 |
|
|
#endif
|
| 1626 |
|
|
|
| 1627 |
|
|
#if ( configUSE_IDLE_HOOK == 1 )
|
| 1628 |
|
|
{
|
| 1629 |
|
|
extern void vApplicationIdleHook( void );
|
| 1630 |
|
|
|
| 1631 |
|
|
/* Call the user defined function from within the idle task. This
|
| 1632 |
|
|
allows the application designer to add background functionality
|
| 1633 |
|
|
without the overhead of a separate task.
|
| 1634 |
|
|
NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
|
| 1635 |
|
|
CALL A FUNCTION THAT MIGHT BLOCK. */
|
| 1636 |
|
|
vApplicationIdleHook();
|
| 1637 |
|
|
}
|
| 1638 |
|
|
#endif
|
| 1639 |
|
|
}
|
| 1640 |
|
|
} /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
|
| 1641 |
|
|
|
| 1642 |
|
|
|
| 1643 |
|
|
|
| 1644 |
|
|
|
| 1645 |
|
|
|
| 1646 |
|
|
|
| 1647 |
|
|
|
| 1648 |
|
|
/*-----------------------------------------------------------
|
| 1649 |
|
|
* File private functions documented at the top of the file.
|
| 1650 |
|
|
*----------------------------------------------------------*/
|
| 1651 |
|
|
|
| 1652 |
|
|
|
| 1653 |
|
|
|
| 1654 |
|
|
static void prvInitialiseTCBVariables( tskTCB *pxTCB, unsigned portSHORT usStackDepth, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority )
|
| 1655 |
|
|
{
|
| 1656 |
|
|
pxTCB->usStackDepth = usStackDepth;
|
| 1657 |
|
|
|
| 1658 |
|
|
/* Store the function name in the TCB. */
|
| 1659 |
|
|
strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned portSHORT ) configMAX_TASK_NAME_LEN );
|
| 1660 |
|
|
pxTCB->pcTaskName[ ( unsigned portSHORT ) configMAX_TASK_NAME_LEN - ( unsigned portSHORT ) 1 ] = '\0';
|
| 1661 |
|
|
|
| 1662 |
|
|
/* This is used as an array index so must ensure it's not too large. */
|
| 1663 |
|
|
if( uxPriority >= configMAX_PRIORITIES )
|
| 1664 |
|
|
{
|
| 1665 |
|
|
uxPriority = configMAX_PRIORITIES - 1;
|
| 1666 |
|
|
}
|
| 1667 |
|
|
|
| 1668 |
|
|
pxTCB->uxPriority = uxPriority;
|
| 1669 |
|
|
|
| 1670 |
|
|
vListInitialiseItem( &( pxTCB->xGenericListItem ) );
|
| 1671 |
|
|
vListInitialiseItem( &( pxTCB->xEventListItem ) );
|
| 1672 |
|
|
|
| 1673 |
|
|
/* Set the pxTCB as a link back from the xListItem. This is so we can get
|
| 1674 |
|
|
back to the containing TCB from a generic item in a list. */
|
| 1675 |
|
|
listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
|
| 1676 |
|
|
|
| 1677 |
|
|
/* Event lists are always in priority order. */
|
| 1678 |
|
|
listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
|
| 1679 |
|
|
listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
|
| 1680 |
|
|
}
|
| 1681 |
|
|
/*-----------------------------------------------------------*/
|
| 1682 |
|
|
|
| 1683 |
|
|
static void prvInitialiseTaskLists( void )
|
| 1684 |
|
|
{
|
| 1685 |
|
|
unsigned portBASE_TYPE uxPriority;
|
| 1686 |
|
|
|
| 1687 |
|
|
for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )
|
| 1688 |
|
|
{
|
| 1689 |
|
|
vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
|
| 1690 |
|
|
}
|
| 1691 |
|
|
|
| 1692 |
|
|
vListInitialise( ( xList * ) &xDelayedTaskList1 );
|
| 1693 |
|
|
vListInitialise( ( xList * ) &xDelayedTaskList2 );
|
| 1694 |
|
|
vListInitialise( ( xList * ) &xPendingReadyList );
|
| 1695 |
|
|
|
| 1696 |
|
|
#if ( INCLUDE_vTaskDelete == 1 )
|
| 1697 |
|
|
{
|
| 1698 |
|
|
vListInitialise( ( xList * ) &xTasksWaitingTermination );
|
| 1699 |
|
|
}
|
| 1700 |
|
|
#endif
|
| 1701 |
|
|
|
| 1702 |
|
|
#if ( INCLUDE_vTaskSuspend == 1 )
|
| 1703 |
|
|
{
|
| 1704 |
|
|
vListInitialise( ( xList * ) &xSuspendedTaskList );
|
| 1705 |
|
|
}
|
| 1706 |
|
|
#endif
|
| 1707 |
|
|
|
| 1708 |
|
|
/* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
|
| 1709 |
|
|
using list2. */
|
| 1710 |
|
|
pxDelayedTaskList = &xDelayedTaskList1;
|
| 1711 |
|
|
pxOverflowDelayedTaskList = &xDelayedTaskList2;
|
| 1712 |
|
|
}
|
| 1713 |
|
|
/*-----------------------------------------------------------*/
|
| 1714 |
|
|
|
| 1715 |
|
|
static void prvCheckTasksWaitingTermination( void )
|
| 1716 |
|
|
{
|
| 1717 |
|
|
#if ( INCLUDE_vTaskDelete == 1 )
|
| 1718 |
|
|
{
|
| 1719 |
|
|
portBASE_TYPE xListIsEmpty;
|
| 1720 |
|
|
|
| 1721 |
|
|
/* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
|
| 1722 |
|
|
too often in the idle task. */
|
| 1723 |
|
|
if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
|
| 1724 |
|
|
{
|
| 1725 |
|
|
vTaskSuspendAll();
|
| 1726 |
|
|
xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
|
| 1727 |
|
|
xTaskResumeAll();
|
| 1728 |
|
|
|
| 1729 |
|
|
if( !xListIsEmpty )
|
| 1730 |
|
|
{
|
| 1731 |
|
|
tskTCB *pxTCB;
|
| 1732 |
|
|
|
| 1733 |
|
|
portENTER_CRITICAL();
|
| 1734 |
|
|
{
|
| 1735 |
|
|
pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
|
| 1736 |
|
|
vListRemove( &( pxTCB->xGenericListItem ) );
|
| 1737 |
|
|
--uxCurrentNumberOfTasks;
|
| 1738 |
|
|
--uxTasksDeleted;
|
| 1739 |
|
|
}
|
| 1740 |
|
|
portEXIT_CRITICAL();
|
| 1741 |
|
|
|
| 1742 |
|
|
prvDeleteTCB( pxTCB );
|
| 1743 |
|
|
}
|
| 1744 |
|
|
}
|
| 1745 |
|
|
}
|
| 1746 |
|
|
#endif
|
| 1747 |
|
|
}
|
| 1748 |
|
|
/*-----------------------------------------------------------*/
|
| 1749 |
|
|
|
| 1750 |
|
|
static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth )
|
| 1751 |
|
|
{
|
| 1752 |
|
|
tskTCB *pxNewTCB;
|
| 1753 |
|
|
|
| 1754 |
|
|
/* Allocate space for the TCB. Where the memory comes from depends on
|
| 1755 |
|
|
the implementation of the port malloc function. */
|
| 1756 |
|
|
pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
|
| 1757 |
|
|
|
| 1758 |
|
|
if( pxNewTCB != NULL )
|
| 1759 |
|
|
{
|
| 1760 |
|
|
/* Allocate space for the stack used by the task being created.
|
| 1761 |
|
|
The base of the stack memory stored in the TCB so the task can
|
| 1762 |
|
|
be deleted later if required. */
|
| 1763 |
|
|
pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMalloc( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) );
|
| 1764 |
|
|
|
| 1765 |
|
|
if( pxNewTCB->pxStack == NULL )
|
| 1766 |
|
|
{
|
| 1767 |
|
|
/* Could not allocate the stack. Delete the allocated TCB. */
|
| 1768 |
|
|
vPortFree( pxNewTCB );
|
| 1769 |
|
|
pxNewTCB = NULL;
|
| 1770 |
|
|
}
|
| 1771 |
|
|
else
|
| 1772 |
|
|
{
|
| 1773 |
|
|
/* Just to help debugging. */
|
| 1774 |
|
|
memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
|
| 1775 |
|
|
}
|
| 1776 |
|
|
}
|
| 1777 |
|
|
|
| 1778 |
|
|
return pxNewTCB;
|
| 1779 |
|
|
}
|
| 1780 |
|
|
/*-----------------------------------------------------------*/
|
| 1781 |
|
|
|
| 1782 |
|
|
#if ( configUSE_TRACE_FACILITY == 1 )
|
| 1783 |
|
|
|
| 1784 |
|
|
static void prvListTaskWithinSingleList( signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus )
|
| 1785 |
|
|
{
|
| 1786 |
|
|
volatile tskTCB *pxNextTCB, *pxFirstTCB;
|
| 1787 |
|
|
static portCHAR pcStatusString[ 50 ];
|
| 1788 |
|
|
unsigned portSHORT usStackRemaining;
|
| 1789 |
|
|
|
| 1790 |
|
|
/* Write the details of all the TCB's in pxList into the buffer. */
|
| 1791 |
|
|
listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
|
| 1792 |
|
|
do
|
| 1793 |
|
|
{
|
| 1794 |
|
|
listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
|
| 1795 |
|
|
usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned portCHAR * ) pxNextTCB->pxStack );
|
| 1796 |
|
|
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 );
|
| 1797 |
|
|
strcat( ( portCHAR * ) pcWriteBuffer, ( portCHAR * ) pcStatusString );
|
| 1798 |
|
|
|
| 1799 |
|
|
} while( pxNextTCB != pxFirstTCB );
|
| 1800 |
|
|
}
|
| 1801 |
|
|
|
| 1802 |
|
|
#endif
|
| 1803 |
|
|
/*-----------------------------------------------------------*/
|
| 1804 |
|
|
|
| 1805 |
|
|
#if ( configUSE_TRACE_FACILITY == 1 )
|
| 1806 |
|
|
unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR *pucStackByte )
|
| 1807 |
|
|
{
|
| 1808 |
|
|
register unsigned portSHORT usCount = 0;
|
| 1809 |
|
|
|
| 1810 |
|
|
while( *pucStackByte == tskSTACK_FILL_BYTE )
|
| 1811 |
|
|
{
|
| 1812 |
|
|
pucStackByte -= portSTACK_GROWTH;
|
| 1813 |
|
|
usCount++;
|
| 1814 |
|
|
}
|
| 1815 |
|
|
|
| 1816 |
|
|
usCount /= sizeof( portSTACK_TYPE );
|
| 1817 |
|
|
|
| 1818 |
|
|
return usCount;
|
| 1819 |
|
|
}
|
| 1820 |
|
|
#endif
|
| 1821 |
|
|
/*-----------------------------------------------------------*/
|
| 1822 |
|
|
|
| 1823 |
|
|
|
| 1824 |
|
|
|
| 1825 |
|
|
#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
|
| 1826 |
|
|
|
| 1827 |
|
|
static void prvDeleteTCB( tskTCB *pxTCB )
|
| 1828 |
|
|
{
|
| 1829 |
|
|
/* Free up the memory allocated by the scheduler for the task. It is up to
|
| 1830 |
|
|
the task to free any memory allocated at the application level. */
|
| 1831 |
|
|
vPortFree( pxTCB->pxStack );
|
| 1832 |
|
|
vPortFree( pxTCB );
|
| 1833 |
|
|
}
|
| 1834 |
|
|
|
| 1835 |
|
|
#endif
|
| 1836 |
|
|
|
| 1837 |
|
|
|
| 1838 |
|
|
/*-----------------------------------------------------------*/
|
| 1839 |
|
|
|
| 1840 |
|
|
#if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
|
| 1841 |
|
|
|
| 1842 |
|
|
xTaskHandle xTaskGetCurrentTaskHandle( void )
|
| 1843 |
|
|
{
|
| 1844 |
|
|
xTaskHandle xReturn;
|
| 1845 |
|
|
|
| 1846 |
|
|
portENTER_CRITICAL();
|
| 1847 |
|
|
{
|
| 1848 |
|
|
xReturn = ( xTaskHandle ) pxCurrentTCB;
|
| 1849 |
|
|
}
|
| 1850 |
|
|
portEXIT_CRITICAL();
|
| 1851 |
|
|
|
| 1852 |
|
|
return xReturn;
|
| 1853 |
|
|
}
|
| 1854 |
|
|
|
| 1855 |
|
|
#endif
|
| 1856 |
|
|
|
| 1857 |
|
|
|
| 1858 |
|
|
|
| 1859 |
|
|
|
| 1860 |
|
|
|
