Kenji Arai
Please see my note book http://mbed.org/users/kenjiArai/notebook/freertos-on-mbed-board-with-mbed-cloud-ide--never-/
This is too old.
Below is another FreeRTOS on mbed.
http://developer.mbed.org/users/rgrover1/code/FreeRTOS/
I don't know it works well or not.
I have not evaluated it.
Diff: FreeRTOS/Source/tasks.c
- Revision:
- 0:d4960fcea8ff
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/FreeRTOS/Source/tasks.c Sat Jan 01 11:17:45 2011 +0000
@@ -0,0 +1,2340 @@
+/*
+ FreeRTOS V6.0.3 - Copyright (C) 2010 Real Time Engineers Ltd.
+
+ ***************************************************************************
+ * *
+ * If you are: *
+ * *
+ * + New to FreeRTOS, *
+ * + Wanting to learn FreeRTOS or multitasking in general quickly *
+ * + Looking for basic training, *
+ * + Wanting to improve your FreeRTOS skills and productivity *
+ * *
+ * then take a look at the FreeRTOS eBook *
+ * *
+ * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
+ * http://www.FreeRTOS.org/Documentation *
+ * *
+ * A pdf reference manual is also available. Both are usually delivered *
+ * to your inbox within 20 minutes to two hours when purchased between 8am *
+ * and 8pm GMT (although please allow up to 24 hours in case of *
+ * exceptional circumstances). Thank you for your support! *
+ * *
+ ***************************************************************************
+
+ This file is part of the FreeRTOS distribution.
+
+ FreeRTOS is free software; you can redistribute it and/or modify it under
+ the terms of the GNU General Public License (version 2) as published by the
+ Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
+ ***NOTE*** The exception to the GPL is included to allow you to distribute
+ a combined work that includes FreeRTOS without being obliged to provide the
+ source code for proprietary components outside of the FreeRTOS kernel.
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
+ more details. You should have received a copy of the GNU General Public
+ License and the FreeRTOS license exception along with FreeRTOS; if not it
+ can be viewed here: http://www.freertos.org/a00114.html and also obtained
+ by writing to Richard Barry, contact details for whom are available on the
+ FreeRTOS WEB site.
+
+ 1 tab == 4 spaces!
+
+ http://www.FreeRTOS.org - Documentation, latest information, license and
+ contact details.
+
+ http://www.SafeRTOS.com - A version that is certified for use in safety
+ critical systems.
+
+ http://www.OpenRTOS.com - Commercial support, development, porting,
+ licensing and training services.
+*/
+
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+all the API functions to use the MPU wrappers. That should only be done when
+task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "StackMacros.h"
+
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+#if 0
+/*
+ * Macro to define the amount of stack available to the idle task.
+ */
+#define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE
+#endif
+
+/*
+ * Task control block. A task control block (TCB) is allocated to each task,
+ * and stores the context of the task.
+ */
+typedef struct tskTaskControlBlock
+{
+ volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE STRUCT. */
+
+ #if ( portUSING_MPU_WRAPPERS == 1 )
+ xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE STRUCT. */
+ #endif
+
+ xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */
+ xListItem xEventListItem; /*< List item used to place the TCB in event lists. */
+ unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */
+ portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */
+ signed char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */
+
+ #if ( portSTACK_GROWTH > 0 )
+ portSTACK_TYPE *pxEndOfStack; /*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
+ #endif
+
+ #if ( portCRITICAL_NESTING_IN_TCB == 1 )
+ unsigned portBASE_TYPE uxCriticalNesting;
+ #endif
+
+ #if ( configUSE_TRACE_FACILITY == 1 )
+ unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */
+ #endif
+
+ #if ( configUSE_MUTEXES == 1 )
+ unsigned portBASE_TYPE uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
+ #endif
+
+ #if ( configUSE_APPLICATION_TASK_TAG == 1 )
+ pdTASK_HOOK_CODE pxTaskTag;
+ #endif
+
+ #if ( configGENERATE_RUN_TIME_STATS == 1 )
+ unsigned long ulRunTimeCounter; /*< Used for calculating how much CPU time each task is utilising. */
+ #endif
+
+} tskTCB;
+
+
+/*
+ * Some kernel aware debuggers require data to be viewed to be global, rather
+ * than file scope.
+ */
+#ifdef portREMOVE_STATIC_QUALIFIER
+ #define static
+#endif
+
+/*lint -e956 */
+PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
+
+/* Lists for ready and blocked tasks. --------------------*/
+
+PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
+PRIVILEGED_DATA static xList xDelayedTaskList1; /*< Delayed tasks. */
+PRIVILEGED_DATA static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
+PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ; /*< Points to the delayed task list currently being used. */
+PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
+PRIVILEGED_DATA static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */
+
+#if ( INCLUDE_vTaskDelete == 1 )
+
+ PRIVILEGED_DATA static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */
+ PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
+
+#endif
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+
+ PRIVILEGED_DATA static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */
+
+#endif
+
+/* File private variables. --------------------------------*/
+PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0;
+PRIVILEGED_DATA static volatile portTickType xTickCount = ( portTickType ) 0;
+PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY;
+PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY;
+PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE;
+PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE;
+PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0;
+PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE;
+PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0;
+PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber = ( unsigned portBASE_TYPE ) 0;
+
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+
+ PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
+ PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
+ static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
+
+#endif
+
+/* Debugging and trace facilities private variables and macros. ------------*/
+
+/*
+ * The value used to fill the stack of a task when the task is created. This
+ * is used purely for checking the high water mark for tasks.
+ */
+#define tskSTACK_FILL_BYTE ( 0xa5 )
+
+/*
+ * Macros used by vListTask to indicate which state a task is in.
+ */
+#define tskBLOCKED_CHAR ( ( signed char ) 'B' )
+#define tskREADY_CHAR ( ( signed char ) 'R' )
+#define tskDELETED_CHAR ( ( signed char ) 'D' )
+#define tskSUSPENDED_CHAR ( ( signed char ) 'S' )
+
+/*
+ * Macros and private variables used by the trace facility.
+ */
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+ #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned long ) ( sizeof( unsigned long ) + sizeof( unsigned long ) ) )
+ PRIVILEGED_DATA static volatile signed char * volatile pcTraceBuffer;
+ PRIVILEGED_DATA static signed char *pcTraceBufferStart;
+ PRIVILEGED_DATA static signed char *pcTraceBufferEnd;
+ PRIVILEGED_DATA static signed portBASE_TYPE xTracing = pdFALSE;
+ static unsigned portBASE_TYPE uxPreviousTask = 255;
+ PRIVILEGED_DATA static char pcStatusString[ 50 ];
+
+#endif
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Macro that writes a trace of scheduler activity to a buffer. This trace
+ * shows which task is running when and is very useful as a debugging tool.
+ * As this macro is called each context switch it is a good idea to undefine
+ * it if not using the facility.
+ */
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+ #define vWriteTraceToBuffer() \
+ { \
+ if( xTracing ) \
+ { \
+ if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \
+ { \
+ if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \
+ { \
+ uxPreviousTask = pxCurrentTCB->uxTCBNumber; \
+ *( unsigned long * ) pcTraceBuffer = ( unsigned long ) xTickCount; \
+ pcTraceBuffer += sizeof( unsigned long ); \
+ *( unsigned long * ) pcTraceBuffer = ( unsigned long ) uxPreviousTask; \
+ pcTraceBuffer += sizeof( unsigned long ); \
+ } \
+ else \
+ { \
+ xTracing = pdFALSE; \
+ } \
+ } \
+ } \
+ }
+
+#else
+
+ #define vWriteTraceToBuffer()
+
+#endif
+/*-----------------------------------------------------------*/
+
+/*
+ * Place the task represented by pxTCB into the appropriate ready queue for
+ * the task. It is inserted at the end of the list. One quirk of this is
+ * that if the task being inserted is at the same priority as the currently
+ * executing task, then it will only be rescheduled after the currently
+ * executing task has been rescheduled.
+ */
+#define prvAddTaskToReadyQueue( pxTCB ) \
+{ \
+ if( pxTCB->uxPriority > uxTopReadyPriority ) \
+ { \
+ uxTopReadyPriority = pxTCB->uxPriority; \
+ } \
+ vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Macro that looks at the list of tasks that are currently delayed to see if
+ * any require waking.
+ *
+ * Tasks are stored in the queue in the order of their wake time - meaning
+ * once one tasks has been found whose timer has not expired we need not look
+ * any further down the list.
+ */
+#define prvCheckDelayedTasks() \
+{ \
+register tskTCB *pxTCB; \
+ \
+ while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \
+ { \
+ if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \
+ { \
+ break; \
+ } \
+ vListRemove( &( pxTCB->xGenericListItem ) ); \
+ /* Is the task waiting on an event also? */ \
+ if( pxTCB->xEventListItem.pvContainer ) \
+ { \
+ vListRemove( &( pxTCB->xEventListItem ) ); \
+ } \
+ prvAddTaskToReadyQueue( pxTCB ); \
+ } \
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Several functions take an xTaskHandle parameter that can optionally be NULL,
+ * where NULL is used to indicate that the handle of the currently executing
+ * task should be used in place of the parameter. This macro simply checks to
+ * see if the parameter is NULL and returns a pointer to the appropriate TCB.
+ */
+#define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )
+
+
+/* File private functions. --------------------------------*/
+
+/*
+ * Utility to ready a TCB for a given task. Mainly just copies the parameters
+ * into the TCB structure.
+ */
+static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
+
+/*
+ * Utility to ready all the lists used by the scheduler. This is called
+ * automatically upon the creation of the first task.
+ */
+static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
+
+/*
+ * The idle task, which as all tasks is implemented as a never ending loop.
+ * The idle task is automatically created and added to the ready lists upon
+ * creation of the first user task.
+ *
+ * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
+ * language extensions. The equivalent prototype for this function is:
+ *
+ * void prvIdleTask( void *pvParameters );
+ *
+ */
+//static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
+#ifdef __cplusplus
+extern "C" {
+#endif
+ static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
+#ifdef __cplusplus
+}
+#endif
+/*
+ * Utility to free all memory allocated by the scheduler to hold a TCB,
+ * including the stack pointed to by the TCB.
+ *
+ * This does not free memory allocated by the task itself (i.e. memory
+ * allocated by calls to pvPortMalloc from within the tasks application code).
+ */
+#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
+
+ static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
+
+#endif
+
+/*
+ * Used only by the idle task. This checks to see if anything has been placed
+ * in the list of tasks waiting to be deleted. If so the task is cleaned up
+ * and its TCB deleted.
+ */
+static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
+
+/*
+ * Allocates memory from the heap for a TCB and associated stack. Checks the
+ * allocation was successful.
+ */
+static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
+
+/*
+ * Called from vTaskList. vListTasks details all the tasks currently under
+ * control of the scheduler. The tasks may be in one of a number of lists.
+ * prvListTaskWithinSingleList accepts a list and details the tasks from
+ * within just that list.
+ *
+ * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
+ * NORMAL APPLICATION CODE.
+ */
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+ static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
+
+#endif
+
+/*
+ * When a task is created, the stack of the task is filled with a known value.
+ * This function determines the 'high water mark' of the task stack by
+ * determining how much of the stack remains at the original preset value.
+ */
+#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
+
+ static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
+
+#endif
+
+
+/*lint +e956 */
+
+
+
+/*-----------------------------------------------------------
+ * TASK CREATION API documented in task.h
+ *----------------------------------------------------------*/
+
+signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
+{
+signed portBASE_TYPE xReturn;
+tskTCB * pxNewTCB;
+
+ /* Allocate the memory required by the TCB and stack for the new task,
+ checking that the allocation was successful. */
+ pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
+
+ if( pxNewTCB != NULL )
+ {
+ portSTACK_TYPE *pxTopOfStack;
+
+ #if( portUSING_MPU_WRAPPERS == 1 )
+ /* Should the task be created in privileged mode? */
+ portBASE_TYPE xRunPrivileged;
+ if( ( uxPriority & portPRIVILEGE_BIT ) != 0x00 )
+ {
+ xRunPrivileged = pdTRUE;
+ }
+ else
+ {
+ xRunPrivileged = pdFALSE;
+ }
+ uxPriority &= ~portPRIVILEGE_BIT;
+ #endif /* portUSING_MPU_WRAPPERS == 1 */
+
+ /* Calculate the top of stack address. This depends on whether the
+ stack grows from high memory to low (as per the 80x86) or visa versa.
+ portSTACK_GROWTH is used to make the result positive or negative as
+ required by the port. */
+ #if( portSTACK_GROWTH < 0 )
+ {
+ pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
+ pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( unsigned long ) pxTopOfStack ) & ( ( unsigned long ) ~portBYTE_ALIGNMENT_MASK ) );
+ }
+ #else
+ {
+ pxTopOfStack = pxNewTCB->pxStack;
+
+ /* If we want to use stack checking on architectures that use
+ a positive stack growth direction then we also need to store the
+ other extreme of the stack space. */
+ pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
+ }
+ #endif
+
+ /* Setup the newly allocated TCB with the initial state of the task. */
+ prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
+
+ /* Initialize the TCB stack to look as if the task was already running,
+ but had been interrupted by the scheduler. The return address is set
+ to the start of the task function. Once the stack has been initialised
+ the top of stack variable is updated. */
+ #if( portUSING_MPU_WRAPPERS == 1 )
+ {
+ pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
+ }
+ #else
+ {
+ pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
+ }
+ #endif
+
+ /* We are going to manipulate the task queues to add this task to a
+ ready list, so must make sure no interrupts occur. */
+ portENTER_CRITICAL();
+ {
+ uxCurrentNumberOfTasks++;
+ if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
+ {
+ /* As this is the first task it must also be the current task. */
+ pxCurrentTCB = pxNewTCB;
+
+ /* This is the first task to be created so do the preliminary
+ initialisation required. We will not recover if this call
+ fails, but we will report the failure. */
+ prvInitialiseTaskLists();
+ }
+ else
+ {
+ /* If the scheduler is not already running, make this task the
+ current task if it is the highest priority task to be created
+ so far. */
+ if( xSchedulerRunning == pdFALSE )
+ {
+ if( pxCurrentTCB->uxPriority <= uxPriority )
+ {
+ pxCurrentTCB = pxNewTCB;
+ }
+ }
+ }
+
+ /* Remember the top priority to make context switching faster. Use
+ the priority in pxNewTCB as this has been capped to a valid value. */
+ if( pxNewTCB->uxPriority > uxTopUsedPriority )
+ {
+ uxTopUsedPriority = pxNewTCB->uxPriority;
+ }
+
+ #if ( configUSE_TRACE_FACILITY == 1 )
+ {
+ /* Add a counter into the TCB for tracing only. */
+ pxNewTCB->uxTCBNumber = uxTaskNumber;
+ }
+ #endif
+ uxTaskNumber++;
+
+ prvAddTaskToReadyQueue( pxNewTCB );
+
+ xReturn = pdPASS;
+ traceTASK_CREATE( pxNewTCB );
+ }
+ portEXIT_CRITICAL();
+ }
+ else
+ {
+ xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
+ traceTASK_CREATE_FAILED( pxNewTCB );
+ }
+
+ if( xReturn == pdPASS )
+ {
+ if( ( void * ) pxCreatedTask != NULL )
+ {
+ /* Pass the TCB out - in an anonymous way. The calling function/
+ task can use this as a handle to delete the task later if
+ required.*/
+ *pxCreatedTask = ( xTaskHandle ) pxNewTCB;
+ }
+
+ if( xSchedulerRunning != pdFALSE )
+ {
+ /* If the created task is of a higher priority than the current task
+ then it should run now. */
+ if( pxCurrentTCB->uxPriority < uxPriority )
+ {
+ portYIELD_WITHIN_API();
+ }
+ }
+ }
+
+ return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskDelete == 1 )
+
+ void vTaskDelete( xTaskHandle pxTaskToDelete )
+ {
+ tskTCB *pxTCB;
+
+ portENTER_CRITICAL();
+ {
+ /* Ensure a yield is performed if the current task is being
+ deleted. */
+ if( pxTaskToDelete == pxCurrentTCB )
+ {
+ pxTaskToDelete = NULL;
+ }
+
+ /* If null is passed in here then we are deleting ourselves. */
+ pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
+
+ /* Remove task from the ready list and place in the termination list.
+ This will stop the task from be scheduled. The idle task will check
+ the termination list and free up any memory allocated by the
+ scheduler for the TCB and stack. */
+ vListRemove( &( pxTCB->xGenericListItem ) );
+
+ /* Is the task waiting on an event also? */
+ if( pxTCB->xEventListItem.pvContainer )
+ {
+ vListRemove( &( pxTCB->xEventListItem ) );
+ }
+
+ vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
+
+ /* Increment the ucTasksDeleted variable so the idle task knows
+ there is a task that has been deleted and that it should therefore
+ check the xTasksWaitingTermination list. */
+ ++uxTasksDeleted;
+
+ /* Increment the uxTaskNumberVariable also so kernel aware debuggers
+ can detect that the task lists need re-generating. */
+ uxTaskNumber++;
+
+ traceTASK_DELETE( pxTCB );
+ }
+ portEXIT_CRITICAL();
+
+ /* Force a reschedule if we have just deleted the current task. */
+ if( xSchedulerRunning != pdFALSE )
+ {
+ if( ( void * ) pxTaskToDelete == NULL )
+ {
+ portYIELD_WITHIN_API();
+ }
+ }
+ }
+
+#endif
+
+
+
+
+
+
+/*-----------------------------------------------------------
+ * TASK CONTROL API documented in task.h
+ *----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskDelayUntil == 1 )
+
+ void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
+ {
+ portTickType xTimeToWake;
+ portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
+
+ vTaskSuspendAll();
+ {
+ /* Generate the tick time at which the task wants to wake. */
+ xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
+
+ if( xTickCount < *pxPreviousWakeTime )
+ {
+ /* The tick count has overflowed since this function was
+ lasted called. In this case the only time we should ever
+ actually delay is if the wake time has also overflowed,
+ and the wake time is greater than the tick time. When this
+ is the case it is as if neither time had overflowed. */
+ if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
+ {
+ xShouldDelay = pdTRUE;
+ }
+ }
+ else
+ {
+ /* The tick time has not overflowed. In this case we will
+ delay if either the wake time has overflowed, and/or the
+ tick time is less than the wake time. */
+ if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
+ {
+ xShouldDelay = pdTRUE;
+ }
+ }
+
+ /* Update the wake time ready for the next call. */
+ *pxPreviousWakeTime = xTimeToWake;
+
+ if( xShouldDelay )
+ {
+ traceTASK_DELAY_UNTIL();
+
+ /* We must remove ourselves from the ready list before adding
+ ourselves to the blocked list as the same list item is used for
+ both lists. */
+ vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
+
+ /* The list item will be inserted in wake time order. */
+ listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
+
+ if( xTimeToWake < xTickCount )
+ {
+ /* Wake time has overflowed. Place this item in the
+ overflow list. */
+ vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
+ }
+ else
+ {
+ /* The wake time has not overflowed, so we can use the
+ current block list. */
+ vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
+ }
+ }
+ }
+ xAlreadyYielded = xTaskResumeAll();
+
+ /* Force a reschedule if xTaskResumeAll has not already done so, we may
+ have put ourselves to sleep. */
+ if( !xAlreadyYielded )
+ {
+ portYIELD_WITHIN_API();
+ }
+ }
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskDelay == 1 )
+
+ void vTaskDelay( portTickType xTicksToDelay )
+ {
+ portTickType xTimeToWake;
+ signed portBASE_TYPE xAlreadyYielded = pdFALSE;
+
+ /* A delay time of zero just forces a reschedule. */
+ if( xTicksToDelay > ( portTickType ) 0 )
+ {
+ vTaskSuspendAll();
+ {
+ traceTASK_DELAY();
+
+ /* A task that is removed from the event list while the
+ scheduler is suspended will not get placed in the ready
+ list or removed from the blocked list until the scheduler
+ is resumed.
+
+ This task cannot be in an event list as it is the currently
+ executing task. */
+
+ /* Calculate the time to wake - this may overflow but this is
+ not a problem. */
+ xTimeToWake = xTickCount + xTicksToDelay;
+
+ /* We must remove ourselves from the ready list before adding
+ ourselves to the blocked list as the same list item is used for
+ both lists. */
+ vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
+
+ /* The list item will be inserted in wake time order. */
+ listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
+
+ if( xTimeToWake < xTickCount )
+ {
+ /* Wake time has overflowed. Place this item in the
+ overflow list. */
+ vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
+ }
+ else
+ {
+ /* The wake time has not overflowed, so we can use the
+ current block list. */
+ vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
+ }
+ }
+ xAlreadyYielded = xTaskResumeAll();
+ }
+
+ /* Force a reschedule if xTaskResumeAll has not already done so, we may
+ have put ourselves to sleep. */
+ if( !xAlreadyYielded )
+ {
+ portYIELD_WITHIN_API();
+ }
+ }
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_uxTaskPriorityGet == 1 )
+
+ unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
+ {
+ tskTCB *pxTCB;
+ unsigned portBASE_TYPE uxReturn;
+
+ portENTER_CRITICAL();
+ {
+ /* If null is passed in here then we are changing the
+ priority of the calling function. */
+ pxTCB = prvGetTCBFromHandle( pxTask );
+ uxReturn = pxTCB->uxPriority;
+ }
+ portEXIT_CRITICAL();
+
+ return uxReturn;
+ }
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskPrioritySet == 1 )
+
+ void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
+ {
+ tskTCB *pxTCB;
+ unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
+
+ /* Ensure the new priority is valid. */
+ if( uxNewPriority >= configMAX_PRIORITIES )
+ {
+ uxNewPriority = configMAX_PRIORITIES - 1;
+ }
+
+ portENTER_CRITICAL();
+ {
+ if( pxTask == pxCurrentTCB )
+ {
+ pxTask = NULL;
+ }
+
+ /* If null is passed in here then we are changing the
+ priority of the calling function. */
+ pxTCB = prvGetTCBFromHandle( pxTask );
+
+ traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
+
+ #if ( configUSE_MUTEXES == 1 )
+ {
+ uxCurrentPriority = pxTCB->uxBasePriority;
+ }
+ #else
+ {
+ uxCurrentPriority = pxTCB->uxPriority;
+ }
+ #endif
+
+ if( uxCurrentPriority != uxNewPriority )
+ {
+ /* The priority change may have readied a task of higher
+ priority than the calling task. */
+ if( uxNewPriority > uxCurrentPriority )
+ {
+ if( pxTask != NULL )
+ {
+ /* The priority of another task is being raised. If we
+ were raising the priority of the currently running task
+ there would be no need to switch as it must have already
+ been the highest priority task. */
+ xYieldRequired = pdTRUE;
+ }
+ }
+ else if( pxTask == NULL )
+ {
+ /* Setting our own priority down means there may now be another
+ task of higher priority that is ready to execute. */
+ xYieldRequired = pdTRUE;
+ }
+
+
+
+ #if ( configUSE_MUTEXES == 1 )
+ {
+ /* Only change the priority being used if the task is not
+ currently using an inherited priority. */
+ if( pxTCB->uxBasePriority == pxTCB->uxPriority )
+ {
+ pxTCB->uxPriority = uxNewPriority;
+ }
+
+ /* The base priority gets set whatever. */
+ pxTCB->uxBasePriority = uxNewPriority;
+ }
+ #else
+ {
+ pxTCB->uxPriority = uxNewPriority;
+ }
+ #endif
+
+ listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
+
+ /* If the task is in the blocked or suspended list we need do
+ nothing more than change it's priority variable. However, if
+ the task is in a ready list it needs to be removed and placed
+ in the queue appropriate to its new priority. */
+ if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
+ {
+ /* The task is currently in its ready list - remove before adding
+ it to it's new ready list. As we are in a critical section we
+ can do this even if the scheduler is suspended. */
+ vListRemove( &( pxTCB->xGenericListItem ) );
+ prvAddTaskToReadyQueue( pxTCB );
+ }
+
+ if( xYieldRequired == pdTRUE )
+ {
+ portYIELD_WITHIN_API();
+ }
+ }
+ }
+ portEXIT_CRITICAL();
+ }
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+
+ void vTaskSuspend( xTaskHandle pxTaskToSuspend )
+ {
+ tskTCB *pxTCB;
+
+ portENTER_CRITICAL();
+ {
+ /* Ensure a yield is performed if the current task is being
+ suspended. */
+ if( pxTaskToSuspend == pxCurrentTCB )
+ {
+ pxTaskToSuspend = NULL;
+ }
+
+ /* If null is passed in here then we are suspending ourselves. */
+ pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
+
+ traceTASK_SUSPEND( pxTCB );
+
+ /* Remove task from the ready/delayed list and place in the suspended list. */
+ vListRemove( &( pxTCB->xGenericListItem ) );
+
+ /* Is the task waiting on an event also? */
+ if( pxTCB->xEventListItem.pvContainer )
+ {
+ vListRemove( &( pxTCB->xEventListItem ) );
+ }
+
+ vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
+ }
+ portEXIT_CRITICAL();
+
+ /* We may have just suspended the current task. */
+ if( ( void * ) pxTaskToSuspend == NULL )
+ {
+ portYIELD_WITHIN_API();
+ }
+ }
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+
+ signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
+ {
+ portBASE_TYPE xReturn = pdFALSE;
+ const tskTCB * const pxTCB = ( tskTCB * ) xTask;
+
+ /* Is the task we are attempting to resume actually in the
+ suspended list? */
+ if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
+ {
+ /* Has the task already been resumed from within an ISR? */
+ if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
+ {
+ /* Is it in the suspended list because it is in the
+ Suspended state? It is possible to be in the suspended
+ list because it is blocked on a task with no timeout
+ specified. */
+ if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
+ {
+ xReturn = pdTRUE;
+ }
+ }
+ }
+
+ return xReturn;
+ }
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+
+ void vTaskResume( xTaskHandle pxTaskToResume )
+ {
+ tskTCB *pxTCB;
+
+ /* Remove the task from whichever list it is currently in, and place
+ it in the ready list. */
+ pxTCB = ( tskTCB * ) pxTaskToResume;
+
+ /* The parameter cannot be NULL as it is impossible to resume the
+ currently executing task. */
+ if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
+ {
+ portENTER_CRITICAL();
+ {
+ if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
+ {
+ traceTASK_RESUME( pxTCB );
+
+ /* As we are in a critical section we can access the ready
+ lists even if the scheduler is suspended. */
+ vListRemove( &( pxTCB->xGenericListItem ) );
+ prvAddTaskToReadyQueue( pxTCB );
+
+ /* We may have just resumed a higher priority task. */
+ if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
+ {
+ /* This yield may not cause the task just resumed to run, but
+ will leave the lists in the correct state for the next yield. */
+ portYIELD_WITHIN_API();
+ }
+ }
+ }
+ portEXIT_CRITICAL();
+ }
+ }
+
+#endif
+
+/*-----------------------------------------------------------*/
+
+#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
+
+ portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
+ {
+ portBASE_TYPE xYieldRequired = pdFALSE;
+ tskTCB *pxTCB;
+
+ pxTCB = ( tskTCB * ) pxTaskToResume;
+
+ if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
+ {
+ traceTASK_RESUME_FROM_ISR( pxTCB );
+
+ if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
+ {
+ xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
+ vListRemove( &( pxTCB->xGenericListItem ) );
+ prvAddTaskToReadyQueue( pxTCB );
+ }
+ else
+ {
+ /* We cannot access the delayed or ready lists, so will hold this
+ task pending until the scheduler is resumed, at which point a
+ yield will be performed if necessary. */
+ vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
+ }
+ }
+
+ return xYieldRequired;
+ }
+
+#endif
+
+
+
+
+/*-----------------------------------------------------------
+ * PUBLIC SCHEDULER CONTROL documented in task.h
+ *----------------------------------------------------------*/
+
+// Modified by Kenji Arai / JH1PJL, October 30th,2010
+// move to port_asm.c
+#if 0
+void vTaskStartScheduler( void )
+{
+portBASE_TYPE xReturn;
+
+ /* Add the idle task at the lowest priority. */
+ xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), ( xTaskHandle * ) NULL );
+
+ if( xReturn == pdPASS )
+ {
+ /* Interrupts are turned off here, to ensure a tick does not occur
+ before or during the call to xPortStartScheduler(). The stacks of
+ the created tasks contain a status word with interrupts switched on
+ so interrupts will automatically get re-enabled when the first task
+ starts to run.
+
+ STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
+ DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
+ portDISABLE_INTERRUPTS();
+
+ xSchedulerRunning = pdTRUE;
+ xTickCount = ( portTickType ) 0;
+
+ /* If configGENERATE_RUN_TIME_STATS is defined then the following
+ macro must be defined to configure the timer/counter used to generate
+ the run time counter time base. */
+ portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
+
+ /* Setting up the timer tick is hardware specific and thus in the
+ portable interface. */
+ if( xPortStartScheduler() )
+ {
+ /* Should not reach here as if the scheduler is running the
+ function will not return. */
+ }
+ else
+ {
+ /* Should only reach here if a task calls xTaskEndScheduler(). */
+ }
+ }
+}
+/*-----------------------------------------------------------*/
+
+void vTaskEndScheduler( void )
+{
+ /* Stop the scheduler interrupts and call the portable scheduler end
+ routine so the original ISRs can be restored if necessary. The port
+ layer must ensure interrupts enable bit is left in the correct state. */
+ portDISABLE_INTERRUPTS();
+ xSchedulerRunning = pdFALSE;
+ vPortEndScheduler();
+}
+/*----------------------------------------------------------*/
+#endif
+
+void vTaskSuspendAll( void )
+{
+ /* A critical section is not required as the variable is of type
+ portBASE_TYPE. */
+ ++uxSchedulerSuspended;
+}
+/*----------------------------------------------------------*/
+
+signed portBASE_TYPE xTaskResumeAll( void )
+{
+register tskTCB *pxTCB;
+signed portBASE_TYPE xAlreadyYielded = pdFALSE;
+
+ /* It is possible that an ISR caused a task to be removed from an event
+ list while the scheduler was suspended. If this was the case then the
+ removed task will have been added to the xPendingReadyList. Once the
+ scheduler has been resumed it is safe to move all the pending ready
+ tasks from this list into their appropriate ready list. */
+ portENTER_CRITICAL();
+ {
+ --uxSchedulerSuspended;
+
+ if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
+ {
+ if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
+ {
+ portBASE_TYPE xYieldRequired = pdFALSE;
+
+ /* Move any readied tasks from the pending list into the
+ appropriate ready list. */
+ while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL )
+ {
+ vListRemove( &( pxTCB->xEventListItem ) );
+ vListRemove( &( pxTCB->xGenericListItem ) );
+ prvAddTaskToReadyQueue( pxTCB );
+
+ /* If we have moved a task that has a priority higher than
+ the current task then we should yield. */
+ if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
+ {
+ xYieldRequired = pdTRUE;
+ }
+ }
+
+ /* If any ticks occurred while the scheduler was suspended then
+ they should be processed now. This ensures the tick count does not
+ slip, and that any delayed tasks are resumed at the correct time. */
+ if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
+ {
+ while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
+ {
+ vTaskIncrementTick();
+ --uxMissedTicks;
+ }
+
+ /* As we have processed some ticks it is appropriate to yield
+ to ensure the highest priority task that is ready to run is
+ the task actually running. */
+ #if configUSE_PREEMPTION == 1
+ {
+ xYieldRequired = pdTRUE;
+ }
+ #endif
+ }
+
+ if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
+ {
+ xAlreadyYielded = pdTRUE;
+ xMissedYield = pdFALSE;
+ portYIELD_WITHIN_API();
+ }
+ }
+ }
+ }
+ portEXIT_CRITICAL();
+
+ return xAlreadyYielded;
+}
+
+
+
+
+
+
+/*-----------------------------------------------------------
+ * PUBLIC TASK UTILITIES documented in task.h
+ *----------------------------------------------------------*/
+
+
+
+portTickType xTaskGetTickCount( void )
+{
+portTickType xTicks;
+
+ /* Critical section required if running on a 16 bit processor. */
+ portENTER_CRITICAL();
+ {
+ xTicks = xTickCount;
+ }
+ portEXIT_CRITICAL();
+
+ return xTicks;
+}
+/*-----------------------------------------------------------*/
+
+unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
+{
+ /* A critical section is not required because the variables are of type
+ portBASE_TYPE. */
+ return uxCurrentNumberOfTasks;
+}
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+ void vTaskList( signed char *pcWriteBuffer )
+ {
+ unsigned portBASE_TYPE uxQueue;
+
+ /* This is a VERY costly function that should be used for debug only.
+ It leaves interrupts disabled for a LONG time. */
+
+ vTaskSuspendAll();
+ {
+ /* Run through all the lists that could potentially contain a TCB and
+ report the task name, state and stack high water mark. */
+
+ pcWriteBuffer[ 0 ] = ( signed char ) 0x00;
+ strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
+
+ uxQueue = uxTopUsedPriority + 1;
+
+ do
+ {
+ uxQueue--;
+
+ if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
+ {
+ prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
+ }
+ }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
+
+ if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
+ {
+ prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
+ }
+
+ if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
+ {
+ prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
+ }
+
+ #if( INCLUDE_vTaskDelete == 1 )
+ {
+ if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
+ {
+ prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
+ }
+ }
+ #endif
+
+ #if ( INCLUDE_vTaskSuspend == 1 )
+ {
+ if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
+ {
+ prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
+ }
+ }
+ #endif
+ }
+ xTaskResumeAll();
+ }
+
+#endif
+/*----------------------------------------------------------*/
+
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+
+ void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
+ {
+ unsigned portBASE_TYPE uxQueue;
+ unsigned long ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
+
+ /* This is a VERY costly function that should be used for debug only.
+ It leaves interrupts disabled for a LONG time. */
+
+ vTaskSuspendAll();
+ {
+ /* Run through all the lists that could potentially contain a TCB,
+ generating a table of run timer percentages in the provided
+ buffer. */
+
+ pcWriteBuffer[ 0 ] = ( signed char ) 0x00;
+ strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
+
+ uxQueue = uxTopUsedPriority + 1;
+
+ do
+ {
+ uxQueue--;
+
+ if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
+ {
+ prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
+ }
+ }while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
+
+ if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
+ {
+ prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
+ }
+
+ if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
+ {
+ prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
+ }
+
+ #if ( INCLUDE_vTaskDelete == 1 )
+ {
+ if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
+ {
+ prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, ulTotalRunTime );
+ }
+ }
+ #endif
+
+ #if ( INCLUDE_vTaskSuspend == 1 )
+ {
+ if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
+ {
+ prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, ulTotalRunTime );
+ }
+ }
+ #endif
+ }
+ xTaskResumeAll();
+ }
+
+#endif
+/*----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+ void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize )
+ {
+ portENTER_CRITICAL();
+ {
+ pcTraceBuffer = ( signed char * )pcBuffer;
+ pcTraceBufferStart = pcBuffer;
+ pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
+ xTracing = pdTRUE;
+ }
+ portEXIT_CRITICAL();
+ }
+
+#endif
+/*----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+ unsigned long ulTaskEndTrace( void )
+ {
+ unsigned long ulBufferLength;
+
+ portENTER_CRITICAL();
+ xTracing = pdFALSE;
+ portEXIT_CRITICAL();
+
+ ulBufferLength = ( unsigned long ) ( pcTraceBuffer - pcTraceBufferStart );
+
+ return ulBufferLength;
+ }
+
+#endif
+
+
+
+/*-----------------------------------------------------------
+ * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
+ * documented in task.h
+ *----------------------------------------------------------*/
+
+
+void vTaskIncrementTick( void )
+{
+ /* Called by the portable layer each time a tick interrupt occurs.
+ Increments the tick then checks to see if the new tick value will cause any
+ tasks to be unblocked. */
+ if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
+ {
+ ++xTickCount;
+ if( xTickCount == ( portTickType ) 0 )
+ {
+ xList *pxTemp;
+
+ /* Tick count has overflowed so we need to swap the delay lists.
+ If there are any items in pxDelayedTaskList here then there is
+ an error! */
+ pxTemp = pxDelayedTaskList;
+ pxDelayedTaskList = pxOverflowDelayedTaskList;
+ pxOverflowDelayedTaskList = pxTemp;
+ xNumOfOverflows++;
+ }
+
+ /* See if this tick has made a timeout expire. */
+ prvCheckDelayedTasks();
+ }
+ else
+ {
+ ++uxMissedTicks;
+
+ /* The tick hook gets called at regular intervals, even if the
+ scheduler is locked. */
+ #if ( configUSE_TICK_HOOK == 1 )
+ {
+ extern void vApplicationTickHook( void );
+
+ vApplicationTickHook();
+ }
+ #endif
+ }
+
+ #if ( configUSE_TICK_HOOK == 1 )
+ {
+ extern void vApplicationTickHook( void );
+
+ /* Guard against the tick hook being called when the missed tick
+ count is being unwound (when the scheduler is being unlocked. */
+ if( uxMissedTicks == 0 )
+ {
+ vApplicationTickHook();
+ }
+ }
+ #endif
+
+ traceTASK_INCREMENT_TICK( xTickCount );
+}
+/*-----------------------------------------------------------*/
+
+#if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
+
+ void vTaskCleanUpResources( void )
+ {
+ unsigned short usQueue;
+ volatile tskTCB *pxTCB;
+
+ usQueue = ( unsigned short ) uxTopUsedPriority + ( unsigned short ) 1;
+
+ /* Remove any TCB's from the ready queues. */
+ do
+ {
+ usQueue--;
+
+ while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
+ {
+ listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
+ vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
+
+ prvDeleteTCB( ( tskTCB * ) pxTCB );
+ }
+ }while( usQueue > ( unsigned short ) tskIDLE_PRIORITY );
+
+ /* Remove any TCB's from the delayed queue. */
+ while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
+ {
+ listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
+ vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
+
+ prvDeleteTCB( ( tskTCB * ) pxTCB );
+ }
+
+ /* Remove any TCB's from the overflow delayed queue. */
+ while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
+ {
+ listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
+ vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
+
+ prvDeleteTCB( ( tskTCB * ) pxTCB );
+ }
+
+ while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
+ {
+ listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
+ vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
+
+ prvDeleteTCB( ( tskTCB * ) pxTCB );
+ }
+ }
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_APPLICATION_TASK_TAG == 1 )
+
+ void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue )
+ {
+ tskTCB *xTCB;
+
+ /* If xTask is NULL then we are setting our own task hook. */
+ if( xTask == NULL )
+ {
+ xTCB = ( tskTCB * ) pxCurrentTCB;
+ }
+ else
+ {
+ xTCB = ( tskTCB * ) xTask;
+ }
+
+ /* Save the hook function in the TCB. A critical section is required as
+ the value can be accessed from an interrupt. */
+ portENTER_CRITICAL();
+ xTCB->pxTaskTag = pxTagValue;
+ portEXIT_CRITICAL();
+ }
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_APPLICATION_TASK_TAG == 1 )
+
+ pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
+ {
+ tskTCB *xTCB;
+ pdTASK_HOOK_CODE xReturn;
+
+ /* If xTask is NULL then we are setting our own task hook. */
+ if( xTask == NULL )
+ {
+ xTCB = ( tskTCB * ) pxCurrentTCB;
+ }
+ else
+ {
+ xTCB = ( tskTCB * ) xTask;
+ }
+
+ /* Save the hook function in the TCB. A critical section is required as
+ the value can be accessed from an interrupt. */
+ portENTER_CRITICAL();
+ xReturn = xTCB->pxTaskTag;
+ portEXIT_CRITICAL();
+
+ return xReturn;
+ }
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_APPLICATION_TASK_TAG == 1 )
+
+ portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
+ {
+ tskTCB *xTCB;
+ portBASE_TYPE xReturn;
+
+ /* If xTask is NULL then we are calling our own task hook. */
+ if( xTask == NULL )
+ {
+ xTCB = ( tskTCB * ) pxCurrentTCB;
+ }
+ else
+ {
+ xTCB = ( tskTCB * ) xTask;
+ }
+
+ if( xTCB->pxTaskTag != NULL )
+ {
+ xReturn = xTCB->pxTaskTag( pvParameter );
+ }
+ else
+ {
+ xReturn = pdFAIL;
+ }
+
+ return xReturn;
+ }
+
+#endif
+/*-----------------------------------------------------------*/
+
+void vTaskSwitchContext( void )
+{
+ if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
+ {
+ /* The scheduler is currently suspended - do not allow a context
+ switch. */
+ xMissedYield = pdTRUE;
+ return;
+ }
+
+ traceTASK_SWITCHED_OUT();
+
+ #if ( configGENERATE_RUN_TIME_STATS == 1 )
+ {
+ unsigned long ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
+
+ /* Add the amount of time the task has been running to the accumulated
+ time so far. The time the task started running was stored in
+ ulTaskSwitchedInTime. Note that there is no overflow protection here
+ so count values are only valid until the timer overflows. Generally
+ this will be about 1 hour assuming a 1uS timer increment. */
+ pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
+ ulTaskSwitchedInTime = ulTempCounter;
+ }
+ #endif
+
+ taskFIRST_CHECK_FOR_STACK_OVERFLOW();
+ taskSECOND_CHECK_FOR_STACK_OVERFLOW();
+
+ /* Find the highest priority queue that contains ready tasks. */
+ while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
+ {
+ --uxTopReadyPriority;
+ }
+
+ /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
+ same priority get an equal share of the processor time. */
+ listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
+ #if 0
+ //#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList )
+ {
+ xList * const pxConstList = &( pxReadyTasksLists[ uxTopReadyPriority ] );
+ /* Increment the index to the next item and return the item, ensuring */
+ /* we don't return the marker used at the end of the list. */
+ ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext;
+ if( ( pxConstList )->pxIndex == ( xListItem * ) &( ( pxConstList )->xListEnd ) )
+ {
+ ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext;
+ }
+ pxCurrentTCB = (tskTCB *) (( pxConstList )->pxIndex->pvOwner); // Error then added (tskTCB *)()
+ }
+ #endif
+
+ traceTASK_SWITCHED_IN();
+ vWriteTraceToBuffer();
+}
+/*-----------------------------------------------------------*/
+
+void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
+{
+portTickType xTimeToWake;
+
+ /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
+ SCHEDULER SUSPENDED. */
+
+ /* Place the event list item of the TCB in the appropriate event list.
+ This is placed in the list in priority order so the highest priority task
+ is the first to be woken by the event. */
+ vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
+
+ /* We must remove ourselves from the ready list before adding ourselves
+ to the blocked list as the same list item is used for both lists. We have
+ exclusive access to the ready lists as the scheduler is locked. */
+ vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
+
+
+ #if ( INCLUDE_vTaskSuspend == 1 )
+ {
+ if( xTicksToWait == portMAX_DELAY )
+ {
+ /* Add ourselves to the suspended task list instead of a delayed task
+ list to ensure we are not woken by a timing event. We will block
+ indefinitely. */
+ vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
+ }
+ else
+ {
+ /* Calculate the time at which the task should be woken if the event does
+ not occur. This may overflow but this doesn't matter. */
+ xTimeToWake = xTickCount + xTicksToWait;
+
+ listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
+
+ if( xTimeToWake < xTickCount )
+ {
+ /* Wake time has overflowed. Place this item in the overflow list. */
+ vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
+ }
+ else
+ {
+ /* The wake time has not overflowed, so we can use the current block list. */
+ vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
+ }
+ }
+ }
+ #else
+ {
+ /* Calculate the time at which the task should be woken if the event does
+ not occur. This may overflow but this doesn't matter. */
+ xTimeToWake = xTickCount + xTicksToWait;
+
+ listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
+
+ if( xTimeToWake < xTickCount )
+ {
+ /* Wake time has overflowed. Place this item in the overflow list. */
+ vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
+ }
+ else
+ {
+ /* The wake time has not overflowed, so we can use the current block list. */
+ vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
+ }
+ }
+ #endif
+}
+/*-----------------------------------------------------------*/
+
+signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
+{
+tskTCB *pxUnblockedTCB;
+portBASE_TYPE xReturn;
+
+ /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
+ SCHEDULER SUSPENDED. It can also be called from within an ISR. */
+
+ /* The event list is sorted in priority order, so we can remove the
+ first in the list, remove the TCB from the delayed list, and add
+ it to the ready list.
+
+ If an event is for a queue that is locked then this function will never
+ get called - the lock count on the queue will get modified instead. This
+ means we can always expect exclusive access to the event list here. */
+ pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
+ vListRemove( &( pxUnblockedTCB->xEventListItem ) );
+
+ if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
+ {
+ vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
+ prvAddTaskToReadyQueue( pxUnblockedTCB );
+ }
+ else
+ {
+ /* We cannot access the delayed or ready lists, so will hold this
+ task pending until the scheduler is resumed. */
+ vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
+ }
+
+ if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
+ {
+ /* Return true if the task removed from the event list has
+ a higher priority than the calling task. This allows
+ the calling task to know if it should force a context
+ switch now. */
+ xReturn = pdTRUE;
+ }
+ else
+ {
+ xReturn = pdFALSE;
+ }
+
+ return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
+{
+ pxTimeOut->xOverflowCount = xNumOfOverflows;
+ pxTimeOut->xTimeOnEntering = xTickCount;
+}
+/*-----------------------------------------------------------*/
+
+portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
+{
+portBASE_TYPE xReturn;
+
+ portENTER_CRITICAL();
+ {
+ #if ( INCLUDE_vTaskSuspend == 1 )
+ /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
+ the maximum block time then the task should block indefinitely, and
+ therefore never time out. */
+ if( *pxTicksToWait == portMAX_DELAY )
+ {
+ xReturn = pdFALSE;
+ }
+ else /* We are not blocking indefinitely, perform the checks below. */
+ #endif
+
+ if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
+ {
+ /* The tick count is greater than the time at which vTaskSetTimeout()
+ was called, but has also overflowed since vTaskSetTimeOut() was called.
+ It must have wrapped all the way around and gone past us again. This
+ passed since vTaskSetTimeout() was called. */
+ xReturn = pdTRUE;
+ }
+ else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
+ {
+ /* Not a genuine timeout. Adjust parameters for time remaining. */
+ *pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
+ vTaskSetTimeOutState( pxTimeOut );
+ xReturn = pdFALSE;
+ }
+ else
+ {
+ xReturn = pdTRUE;
+ }
+ }
+ portEXIT_CRITICAL();
+
+ return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vTaskMissedYield( void )
+{
+ xMissedYield = pdTRUE;
+}
+
+/*
+ * -----------------------------------------------------------
+ * The Idle task.
+ * ----------------------------------------------------------
+ *
+ * The portTASK_FUNCTION() macro is used to allow port/compiler specific
+ * language extensions. The equivalent prototype for this function is:
+ *
+ * void prvIdleTask( void *pvParameters );
+ *
+ */
+static portTASK_FUNCTION( prvIdleTask, pvParameters )
+{
+ /* Stop warnings. */
+ ( void ) pvParameters;
+
+ for( ;; )
+ {
+ /* See if any tasks have been deleted. */
+ prvCheckTasksWaitingTermination();
+
+ #if ( configUSE_PREEMPTION == 0 )
+ {
+ /* If we are not using preemption we keep forcing a task switch to
+ see if any other task has become available. If we are using
+ preemption we don't need to do this as any task becoming available
+ will automatically get the processor anyway. */
+ taskYIELD();
+ }
+ #endif
+
+ #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
+ {
+ /* When using preemption tasks of equal priority will be
+ timesliced. If a task that is sharing the idle priority is ready
+ to run then the idle task should yield before the end of the
+ timeslice.
+
+ A critical region is not required here as we are just reading from
+ the list, and an occasional incorrect value will not matter. If
+ the ready list at the idle priority contains more than one task
+ then a task other than the idle task is ready to execute. */
+ if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
+ {
+ taskYIELD();
+ }
+ }
+ #endif
+
+ #if ( configUSE_IDLE_HOOK == 1 )
+ {
+ extern void vApplicationIdleHook( void );
+
+ /* Call the user defined function from within the idle task. This
+ allows the application designer to add background functionality
+ without the overhead of a separate task.
+ NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
+ CALL A FUNCTION THAT MIGHT BLOCK. */
+ vApplicationIdleHook();
+ }
+ #endif
+ }
+} /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
+
+
+
+
+
+
+
+/*-----------------------------------------------------------
+ * File private functions documented at the top of the file.
+ *----------------------------------------------------------*/
+
+
+
+static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
+{
+ /* Store the function name in the TCB. */
+ #if configMAX_TASK_NAME_LEN > 1
+ {
+ /* Don't bring strncpy into the build unnecessarily. */
+ strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
+ }
+ #endif
+ pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = '\0';
+
+ /* This is used as an array index so must ensure it's not too large. First
+ remove the privilege bit if one is present. */
+ if( uxPriority >= configMAX_PRIORITIES )
+ {
+ uxPriority = configMAX_PRIORITIES - 1;
+ }
+
+ pxTCB->uxPriority = uxPriority;
+ #if ( configUSE_MUTEXES == 1 )
+ {
+ pxTCB->uxBasePriority = uxPriority;
+ }
+ #endif
+
+ vListInitialiseItem( &( pxTCB->xGenericListItem ) );
+ vListInitialiseItem( &( pxTCB->xEventListItem ) );
+
+ /* Set the pxTCB as a link back from the xListItem. This is so we can get
+ back to the containing TCB from a generic item in a list. */
+ listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
+
+ /* Event lists are always in priority order. */
+ listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
+ listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
+
+ #if ( portCRITICAL_NESTING_IN_TCB == 1 )
+ {
+ pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
+ }
+ #endif
+
+ #if ( configUSE_APPLICATION_TASK_TAG == 1 )
+ {
+ pxTCB->pxTaskTag = NULL;
+ }
+ #endif
+
+ #if ( configGENERATE_RUN_TIME_STATS == 1 )
+ {
+ pxTCB->ulRunTimeCounter = 0UL;
+ }
+ #endif
+
+ #if ( portUSING_MPU_WRAPPERS == 1 )
+ {
+ vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
+ }
+ #else
+ {
+ ( void ) xRegions;
+ ( void ) usStackDepth;
+ }
+ #endif
+}
+/*-----------------------------------------------------------*/
+
+#if ( portUSING_MPU_WRAPPERS == 1 )
+
+ void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
+ {
+ tskTCB *pxTCB;
+
+ if( xTaskToModify == pxCurrentTCB )
+ {
+ xTaskToModify = NULL;
+ }
+
+ /* If null is passed in here then we are deleting ourselves. */
+ pxTCB = prvGetTCBFromHandle( xTaskToModify );
+
+ vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
+ }
+ /*-----------------------------------------------------------*/
+#endif
+
+static void prvInitialiseTaskLists( void )
+{
+unsigned portBASE_TYPE uxPriority;
+
+ for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )
+ {
+ vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
+ }
+
+ vListInitialise( ( xList * ) &xDelayedTaskList1 );
+ vListInitialise( ( xList * ) &xDelayedTaskList2 );
+ vListInitialise( ( xList * ) &xPendingReadyList );
+
+ #if ( INCLUDE_vTaskDelete == 1 )
+ {
+ vListInitialise( ( xList * ) &xTasksWaitingTermination );
+ }
+ #endif
+
+ #if ( INCLUDE_vTaskSuspend == 1 )
+ {
+ vListInitialise( ( xList * ) &xSuspendedTaskList );
+ }
+ #endif
+
+ /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
+ using list2. */
+ pxDelayedTaskList = &xDelayedTaskList1;
+ pxOverflowDelayedTaskList = &xDelayedTaskList2;
+}
+/*-----------------------------------------------------------*/
+
+static void prvCheckTasksWaitingTermination( void )
+{
+ #if ( INCLUDE_vTaskDelete == 1 )
+ {
+ portBASE_TYPE xListIsEmpty;
+
+ /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
+ too often in the idle task. */
+ if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
+ {
+ vTaskSuspendAll();
+ xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
+ xTaskResumeAll();
+
+ if( !xListIsEmpty )
+ {
+ tskTCB *pxTCB;
+
+ portENTER_CRITICAL();
+ {
+ pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
+ vListRemove( &( pxTCB->xGenericListItem ) );
+ --uxCurrentNumberOfTasks;
+ --uxTasksDeleted;
+ }
+ portEXIT_CRITICAL();
+
+ prvDeleteTCB( pxTCB );
+ }
+ }
+ }
+ #endif
+}
+/*-----------------------------------------------------------*/
+
+static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
+{
+tskTCB *pxNewTCB;
+
+ /* Allocate space for the TCB. Where the memory comes from depends on
+ the implementation of the port malloc function. */
+ pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
+
+ if( pxNewTCB != NULL )
+ {
+ /* Allocate space for the stack used by the task being created.
+ The base of the stack memory stored in the TCB so the task can
+ be deleted later if required. */
+ pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
+
+ if( pxNewTCB->pxStack == NULL )
+ {
+ /* Could not allocate the stack. Delete the allocated TCB. */
+ vPortFree( pxNewTCB );
+ pxNewTCB = NULL;
+ }
+ else
+ {
+ /* Just to help debugging. */
+ memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
+ }
+ }
+
+ return pxNewTCB;
+}
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+ static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
+ {
+ volatile tskTCB *pxNextTCB, *pxFirstTCB;
+ unsigned short usStackRemaining;
+
+ /* Write the details of all the TCB's in pxList into the buffer. */
+ listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
+ do
+ {
+ listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
+ #if ( portSTACK_GROWTH > 0 )
+ {
+ usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
+ }
+ #else
+ {
+ usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
+ }
+ #endif
+
+ sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
+ strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
+
+ } while( pxNextTCB != pxFirstTCB );
+ }
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+
+ static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
+ {
+ volatile tskTCB *pxNextTCB, *pxFirstTCB;
+ unsigned long ulStatsAsPercentage;
+
+ /* Write the run time stats of all the TCB's in pxList into the buffer. */
+ listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
+ do
+ {
+ /* Get next TCB in from the list. */
+ listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
+
+ /* Divide by zero check. */
+ if( ulTotalRunTime > 0UL )
+ {
+ /* Has the task run at all? */
+ if( pxNextTCB->ulRunTimeCounter == 0 )
+ {
+ /* The task has used no CPU time at all. */
+ sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
+ }
+ else
+ {
+ /* What percentage of the total run time as the task used?
+ This will always be rounded down to the nearest integer. */
+ ulStatsAsPercentage = ( 100UL * pxNextTCB->ulRunTimeCounter ) / ulTotalRunTime;
+
+ if( ulStatsAsPercentage > 0UL )
+ {
+ sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
+ }
+ else
+ {
+ /* If the percentage is zero here then the task has
+ consumed less than 1% of the total run time. */
+ sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
+ }
+ }
+
+ strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
+ }
+
+ } while( pxNextTCB != pxFirstTCB );
+ }
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
+
+ static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
+ {
+ register unsigned short usCount = 0;
+
+ while( *pucStackByte == tskSTACK_FILL_BYTE )
+ {
+ pucStackByte -= portSTACK_GROWTH;
+ usCount++;
+ }
+
+ usCount /= sizeof( portSTACK_TYPE );
+
+ return usCount;
+ }
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
+
+ unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
+ {
+ tskTCB *pxTCB;
+ unsigned char *pcEndOfStack;
+ unsigned portBASE_TYPE uxReturn;
+
+ pxTCB = prvGetTCBFromHandle( xTask );
+
+ #if portSTACK_GROWTH < 0
+ {
+ pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
+ }
+ #else
+ {
+ pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
+ }
+ #endif
+
+ uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
+
+ return uxReturn;
+ }
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
+
+ static void prvDeleteTCB( tskTCB *pxTCB )
+ {
+ /* Free up the memory allocated by the scheduler for the task. It is up to
+ the task to free any memory allocated at the application level. */
+ vPortFreeAligned( pxTCB->pxStack );
+ vPortFree( pxTCB );
+ }
+
+#endif
+
+
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
+
+ xTaskHandle xTaskGetCurrentTaskHandle( void )
+ {
+ xTaskHandle xReturn;
+
+ /* A critical section is not required as this is not called from
+ an interrupt and the current TCB will always be the same for any
+ individual execution thread. */
+ xReturn = pxCurrentTCB;
+
+ return xReturn;
+ }
+
+#endif
+
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_xTaskGetSchedulerState == 1 )
+
+ portBASE_TYPE xTaskGetSchedulerState( void )
+ {
+ portBASE_TYPE xReturn;
+
+ if( xSchedulerRunning == pdFALSE )
+ {
+ xReturn = taskSCHEDULER_NOT_STARTED;
+ }
+ else
+ {
+ if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
+ {
+ xReturn = taskSCHEDULER_RUNNING;
+ }
+ else
+ {
+ xReturn = taskSCHEDULER_SUSPENDED;
+ }
+ }
+
+ return xReturn;
+ }
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MUTEXES == 1 )
+
+ void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
+ {
+ tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
+
+ if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
+ {
+ /* Adjust the mutex holder state to account for its new priority. */
+ listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
+
+ /* If the task being modified is in the ready state it will need to
+ be moved in to a new list. */
+ if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
+ {
+ vListRemove( &( pxTCB->xGenericListItem ) );
+
+ /* Inherit the priority before being moved into the new list. */
+ pxTCB->uxPriority = pxCurrentTCB->uxPriority;
+ prvAddTaskToReadyQueue( pxTCB );
+ }
+ else
+ {
+ /* Just inherit the priority. */
+ pxTCB->uxPriority = pxCurrentTCB->uxPriority;
+ }
+ }
+ }
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MUTEXES == 1 )
+
+ void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
+ {
+ tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
+
+ if( pxMutexHolder != NULL )
+ {
+ if( pxTCB->uxPriority != pxTCB->uxBasePriority )
+ {
+ /* We must be the running task to be able to give the mutex back.
+ Remove ourselves from the ready list we currently appear in. */
+ vListRemove( &( pxTCB->xGenericListItem ) );
+
+ /* Disinherit the priority before adding ourselves into the new
+ ready list. */
+ pxTCB->uxPriority = pxTCB->uxBasePriority;
+ listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
+ prvAddTaskToReadyQueue( pxTCB );
+ }
+ }
+ }
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( portCRITICAL_NESTING_IN_TCB == 1 )
+
+ void vTaskEnterCritical( void )
+ {
+ portDISABLE_INTERRUPTS();
+
+ if( xSchedulerRunning != pdFALSE )
+ {
+ pxCurrentTCB->uxCriticalNesting++;
+ }
+ }
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( portCRITICAL_NESTING_IN_TCB == 1 )
+
+void vTaskExitCritical( void )
+{
+ if( xSchedulerRunning != pdFALSE )
+ {
+ if( pxCurrentTCB->uxCriticalNesting > 0 )
+ {
+ pxCurrentTCB->uxCriticalNesting--;
+
+ if( pxCurrentTCB->uxCriticalNesting == 0 )
+ {
+ portENABLE_INTERRUPTS();
+ }
+ }
+ }
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+
+
+